Interaction model estimation-based robotic force-position coordinated optimization for rigid–soft heterogeneous contact tasks

Inspired by Model Predictive Interaction Control (MPIC), this paper proposes differential models for estimating contact geometric parameters and normal-friction forces and formulates an optimal control problem with multiple constraints to allow robots to perform rigid–soft heterogeneous contact task...

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Detalles Bibliográficos

Principais autores:	Haochen Zheng, Xueqian Zhai, Hongmin Wu, Jia Pan, Zhihao Xu, Xuefeng Zhou
Formato:	Artigo
Idioma:	Inglês
Publicado:	KeAi Communications Co., Ltd. 2025-03-01
Series:	Biomimetic Intelligence and Robotics
Assuntos:	Heterogeneous contact Interaction model estimation Coordination optimization Model Predictive Control
Acceso en liña:	http://www.sciencedirect.com/science/article/pii/S2667379724000524
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