A Planar Compliant Contact Control Applied to Multi-dimensional Elastic Gripper for Unexpected Contact
Junnan Huang,Xuefeng Wang,Chongkun Xia,Houde Liu,Mingqi Shao,Bin Liang,Junnan Huang,Xuefeng Wang,Chongkun Xia,Houde Liu,Mingqi Shao,Bin Liang
It is difficult to guarantee an empty living environment to prevent unexpected contact between the object being manipulated by the robot and unplanned obstacles. In this paper, we propose a planar compliant contact control method for planar manipulation to cope with unexpected contact. We first use sheet gel as a multi-dimensional passive elastic element and combine it with a two-finger gripper to...
