Objectives
Using both, tactile and visual feedback, a robot should learn to operate various kinds of switches, knobs, etc. This comprises i) to position the hand relative to the target object utilizing characteristic tactile features on the object and its environment, and ii) to apply a characteristic motion and force profile to operate the switch. This objective will be used also as testbed to compare spiking vs. classical methods for slip detection and force profile analysis.
EXPECTED RESULTS
Behavioral skills allowing a robot hand to reliably operate various switches.