TriFinger: An Open-Source Robot for Learning Dexterity

• URL: http://arxiv.org/abs/2008.03596v2
• Date: Thu, 21 Jan 2021 20:00:13 GMT
• Title: TriFinger: An Open-Source Robot for Learning Dexterity
• Abstract summary: We propose an open-source robotic platform which can safely operate without human supervision. The hardware is inexpensive yet highly dynamic, robust, and capable of complex interaction with external objects. We illustrate the potential of the proposed platform through a number of experiments, including real-time optimal control, deep reinforcement learning from scratch, throwing, and writing.
• Score: 33.26612195196921
• License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/
• Abstract: Dexterous object manipulation remains an open problem in robotics, despite the rapid progress in machine learning during the past decade. We argue that a hindrance is the high cost of experimentation on real systems, in terms of both time and money. We address this problem by proposing an open-source robotic platform which can safely operate without human supervision. The hardware is inexpensive (about \SI{5000}[\$]{}) yet highly dynamic, robust, and capable of complex interaction with external objects. The software operates at 1-kilohertz and performs safety checks to prevent the hardware from breaking. The easy-to-use front-end (in C++ and Python) is suitable for real-time control as well as deep reinforcement learning. In addition, the software framework is largely robot-agnostic and can hence be used independently of the hardware proposed herein. Finally, we illustrate the potential of the proposed platform through a number of experiments, including real-time optimal control, deep reinforcement learning from scratch, throwing, and writing.

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