Impact Planning and Pre-configuration based on Hierarchical Quadratic Programming
Francesco Tassi,Soheil Gholami,Simone Giudice,Arash Ajoudani,Francesco Tassi,Soheil Gholami,Simone Giudice,Arash Ajoudani
Impacts and other non-smooth behaviors are usually unwanted in robotic applications. However, several industrial tasks such as deburring, removing excess material, and assembling/fitting, involve impacts between objects, which can benefit from robotic automation due to the risks posed to human health. Towards this objective, in this paper, we propose a method for optimal impact planning and pre-co...
