Quadratic Dynamic Matrix Control for Fast Cloth Manipulation
Edoardo Caldarelli,Adrià Colomé,Carlos Ocampo-Martinez,Carme Torras,Edoardo Caldarelli,Adrià Colomé,Carlos Ocampo-Martinez,Carme Torras
Robotic cloth manipulation is an increasingly relevant area of research, challenging classic control algorithms due to the deformable nature of cloth. While it is possible to apply linear model predictive control to make the robot move the cloth according to a given reference, this approach suffers from a large dimensionality of the state-space representation of the cloth models. To address this i...
