Introducing GOTT: A New Framework for Multi-Fingered Robot Manipulation
GOTT enhances robot dexterity by establishing reliable contact across various tasks and embodiments.
Researchers have developed GOTT, a novel reach-acquire-move framework designed to improve multi-fingered robot manipulation. This framework utilizes a single contact-acquisition primitive that works across different robot embodiments.
GOTT begins by positioning the robot's hand near a relevant contact area based on a specified trajectory. It then establishes stable contact using a closed-loop system, allowing for precise tracking of object motion. The framework can adapt to various reach specifications, whether derived from planning, external models, or human demonstrations.
Both simulations and real-world tests demonstrate GOTT's effectiveness in achieving robust contact with a wide range of objects and hand designs, significantly enhancing task success rates compared to traditional open-loop methods.