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pro vyhledávání: '"Rozzi, Filippo"'
Planning over discontinuous dynamics is needed for robotics tasks like contact-rich manipulation, which presents challenges in the numerical stability and speed of planning methods when either neural network or analytical models are used. On the one
Externí odkaz:
http://arxiv.org/abs/2310.04822
Contact-rich manipulation involves kinematic constraints on the task motion, typically with discrete transitions between these constraints during the task. Allowing the robot to detect and reason about these contact constraints can support robust and
Externí odkaz:
http://arxiv.org/abs/2303.17481
Control techniques like MPC can realize contact-rich manipulation which exploits dynamic information, maintaining friction limits and safety constraints. However, contact geometry and dynamics are required to be known. This information is often extra
Externí odkaz:
http://arxiv.org/abs/2303.17476
In contact-rich manipulation, the robot dynamics are coupled with an environment that has application-specific dynamic properties (stiffness, inertia) and geometry (contact normal). Knowledge of these environmental parameters can improve control and
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_dedup___::f1c3ff0fdf0aa8ef6646c770dee730f1