Tactile Sensing, Skill Learning, and Robotic Dexterous Manipulation

Appendix A: Key components of dexterous manipulation: tactile sensing, skill learning, and adaptive control

Qiang Li^a; Shan Luo^b; Zhaopeng Chen^c; Chenguang Yang^d; Jianwei Zhang^c     aCenter for Cognitive Interaction Technology (CITEC), Bielefeld University, Bielefeld, Germany^bDepartment of Computer Science, University of Liverpool, Liverpool, United Kingdom^cUniversity of Hamburg, Faculty of Mathematics, Informatics and Natural Science, Department Informatics, Group TAMS, Hamburg, Germany^dBristol Robotics Laboratory, University of the West of England, Bristol, United Kingdom

A.1 Introduction

Dexterous manipulation is a fundamental capability for robots that go outside the laboratory and into our real life. Although this looks like a trivial capability ...