Fig. 1: Tactile skill architecture. | Nature Machine Intelligence

Fig. 1: Tactile skill architecture.

From: A process-centric manipulation taxonomy for the organization, classification and synthesis of tactile robot skills

Fig. 1

\({\dot{{\bf{x}}}}_\mathrm{d}\) is the desired twist, fd the desired wrench, τd the desired joint torque, \(\dot{{\bf{x}}}\) is the actual twist of the robot, fext the external wrench, Ω the percept vector, \({\mathcal{Q}}\) the performance of the skill, θπ the policy parameters and θc the controller parameters.

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