To extend CIMER's framework to handle deformable or fragile objects that require more delicate manipulation, several modifications and enhancements can be implemented.
Object Representation: Deformable objects can be represented using physics-based models or soft-body simulations to capture their dynamic behavior accurately. This representation can provide information on the object's compliance, elasticity, and deformation characteristics, enabling the robot to interact with them more effectively.
Force Sensing and Control: Integrating force sensors or tactile feedback sensors on the robot's end effector can provide real-time information about the contact forces and object deformations during manipulation. This feedback can guide the refinement process in CIMER to adjust the hand motions based on the sensed forces, ensuring gentle handling of deformable or fragile objects.
Adaptive Motion Refinement: CIMER can be enhanced to incorporate adaptive motion refinement strategies that dynamically adjust the hand trajectories based on the tactile feedback received from the sensors. By continuously monitoring and responding to the tactile information, the robot can modulate its grasp force, finger positions, and contact points to ensure safe and effective manipulation of deformable objects.
Task-Specific Reward Design: For tasks involving deformable objects, task-specific reward functions can be designed to incentivize the robot to achieve goals such as maintaining a stable grasp, minimizing object deformation, or applying appropriate forces during manipulation. These rewards can guide the learning process in CIMER to prioritize actions that lead to successful manipulation outcomes.
By incorporating these enhancements, CIMER can adapt its motion generation and refinement policies to handle the complexities of deformable or fragile objects, enabling more delicate and precise manipulation tasks.