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...

Descrizione completa

Dettagli Bibliografici

Autori principali:	Haochen Zheng, Xueqian Zhai, Hongmin Wu, Jia Pan, Zhihao Xu, Xuefeng Zhou
Natura:	Artigo
Lingua:	Inglês
Pubblicazione:	KeAi Communications Co., Ltd. 2025-03-01
Serie:	Biomimetic Intelligence and Robotics
Soggetti:	Heterogeneous contact Interaction model estimation Coordination optimization Model Predictive Control
Accesso online:	http://www.sciencedirect.com/science/article/pii/S2667379724000524
Tags:	Aggiungi Tag Nessun Tag, puoi essere il primo ad aggiungerne!!