Online Impedance Adaptation Facilitates Manipulating a Whip
Xiaofeng Xiong,Moses C. Nah,Aleksei Krotov,Dagmar Sternad,Xiaofeng Xiong,Moses C. Nah,Aleksei Krotov,Dagmar Sternad
Manipulation of flexible objects is one of the major challenges in robotics as the nonlinear dynamics of the high-dimensional object structure makes it difficult to apply current control methods. A previous simulation study showed that control with few pre-structured joint trajectories coupled with joint impedance (dynamic primitives) could control a 25-dimensional whip to hit a target. This was p...
