A model free robot control method for dragging an object on a planar surface by applying top contact forces
Savvas Sampaziotis,Zoe Doulgeri,Savvas Sampaziotis,Zoe Doulgeri
In this work, a robot control method is proposed for dragging an object by applying top contact forces under unknown friction and object dynamics. This is a non-prehensile manipulation of an object that can enhance the grasping capabilities of a robotic manipulator in a plethora of grasping scenarios. In the proposed method, an initializing controller generates reference contact force trajectories...
