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Optimization of sim-to-real transfer in the humanoid robot NICO
Robotic grasping requires accurate coordination between visual perception, object localization, inverse kinematics, and hand control. However, when movements planned in simulation are executed on a physical robot, the sim to real gap can cause small positioning errors that prevent successful grasping. In our previous work, we introduced a low cost haptic calibration method that improved 2D reaching accuracy of the...