Quasistatic contact-rich manipulation via linear complementarity quadratic programming
Sotaro Katayarna,Tatsunori Taniai,Kazutoshi Tanaka,Sotaro Katayarna,Tatsunori Taniai,Kazutoshi Tanaka
Contact-rich manipulation is challenging due to dynamically-changing physical constraints by the contact mode changes undergone during manipulation. This paper proposes a versatile local planning and control framework for contact-rich manipulation that determines the continuous control action under variable contact modes online. We model the physical characteristics of contact-rich manipulation by...
