Liu Jiahao

MDIR: A Task-Manifold Impedance Retargeting Method for Contact-Rich Teleoperation

Liu Jiahao, Kento Kawaharazuka, Tasuku Makabe, Kei Okada

Fixed Cartesian impedance makes contact-rich teleoperation demonstrations practical, but gains that secure progress and contact support also determine impact and force variability. We study single-demonstration controller-to-controller impedance retargeting. Given one fixed Carte…Read more