Force-Modulated Dexterity: Unified Compliance for Contact-Rich Manipulation
Overview
FOMO-Dex improves contact-rich manipulation by reducing excessive forces and enhancing demonstration data quality through unified compliance. It outperforms stiff control methods in tasks like card picking and screwdriving, with user studies showing increased efficiency after brief practice.
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- arXiv Robotics — research abstractsForce-Modulated Dexterity: Unified Compliance for Contact-Rich Manipulation
This research proposes FOMO-Dex, a unified compliance formulation for contact-rich manipulation tasks. It enables force-driven motion corrections while preserving other command components, leading to reduced contact forces and improved demonstration data quality. The method is evaluated across tasks like card picking and screwdriving, showing better performance compared to stiff control approaches.
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