Impact-Friendly Object Catching at Non-Zero Velocity Based on Combined Optimization and Learning
Jianzhuang Zhao,Gustavo J. G. Lahr,Francesco Tassi,Alessandro Santopaolo,Elena De Momi,Arash Ajoudani,Jianzhuang Zhao,Gustavo J. G. Lahr,Francesco Tassi,Alessandro Santopaolo,Elena De Momi,Arash Ajoudani
This paper proposes a combined optimization and learning method for impact-friendly, non-prehensile catching of objects at non-zero velocity. Through a constrained Quadratic Programming problem, the method generates optimal trajectories up to the contact point between the robot and the object to minimize their relative velocity and reduce the impact forces. Next, the generated trajectories are upd...
