Embedded Files
Bandwidth analysis and Sample Torque Trajectory
Optimized peeling cucumber joint torque trajectory (input) for index finger MCP-X joint and the response of a first order system with 5Hz bandwidth (output), the requirement for this task based on our analysis. Note that the high frequency noise from the raw data is attenuated, but the main signal is followed closely
Grasps
Size of handle used for all tasks from Daily Interactive Manipulation dataset (Small: , Medium, or Large: ) as well as presence of palm for torque trajectory optimization analysis.
Medium Pinch grasp, such as is used for the screwdriver tasks, for inferring torque trajectories at the joints based on FT sensor readings (shown in red in the diagram)
Large PinchÂ
Tripod 1
Tripod 2
Tripod 3
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