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pro vyhledávání: '"Han, Seo Wook"'
In this paper, we propose a model predictive control (MPC) that accomplishes interactive robotic tasks, in which multiple contacts may occur at unknown locations. To address such scenarios, we made an explicit contact feedback loop in the MPC framewo
Externí odkaz:
http://arxiv.org/abs/2403.08302
Autor:
Han, Seo Wook, Kim, Min Jun
In this paper, we propose an algorithm that estimates contact point and force simultaneously. We consider a collaborative robot equipped with proprioceptive sensors, in particular, joint torque sensors (JTSs) and a base force/torque (F/T) sensor. The
Externí odkaz:
http://arxiv.org/abs/2303.03903