Simultaneous Trajectory Optimization and Force Control with Soft Contact Mechanics
Lasitha Wijayarathne,Qie Sima,Ziyi Zhou,Ye Zhao,Frank L. Hammond,Lasitha Wijayarathne,Qie Sima,Ziyi Zhou,Ye Zhao,Frank L. Hammond
Force modulation of robotic manipulators has been extensively studied for several decades but is not yet commonly used in safety-critical applications due to a lack of accurate interaction contact modeling and weak performance guarantees - a large proportion of them concerning the modulation of interaction forces. This study presents a high-level framework for simultaneous trajectory optimization ...
