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Extremum Seeking Controlled Wiggling for Tactile Insertion

Webpage, arXiv

Key Insertion Video

Contents

  • key_insertion.py: the algorithm that inserts the key
  • make_figures.py: code to make the plot shown in the paper
  • show_output.py: code to make a detailed plot for controller tuning

Data

The recorded data for all 360 trials is available here

Dependencies

  • numpy, scipy, matplotlib
  • OpenCV
  • ur_rtde
  • for plotting: scienceplots
  • vme_research: A minimal version of an internal library used by the PRG group for robotics research. The version and relevant components used with the paper is distributed in the vme_research folder with its own license. To install run: pip install -e ./vme_research from the root of this repository.