Force Adaptation in Contact Tasks with Dynamical Systems
Walid Amanhoud,Mahdi Khoramshahi,Maxime Bonnesoeur,Aude Billard,Walid Amanhoud,Mahdi Khoramshahi,Maxime Bonnesoeur,Aude Billard
In many tasks such as finishing operations, achieving accurate force tracking is essential. However, uncertainties in the robot dynamics and the environment limit the force tracking accuracy. Learning a compensation model for these uncertainties to reduce the force error is an effective approach to overcome this limitation. However, this approach requires an adaptive and robust framework for motio...
