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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| Main Authors: | , , , , , |
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| Format: | Article |
| Language: | English |
| Published: |
Elsevier
2025-03-01
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| Series: | Biomimetic Intelligence and Robotics |
| Subjects: | |
| Online Access: | http://www.sciencedirect.com/science/article/pii/S2667379724000524 |
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