Extremum Seeking Controlled Wiggling for Tactile Insertion

Webpage, arXiv

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.