A Planning Framework for Robotic Insertion Tasks via Hydroelastic Contact Model

A Planning Framework for Robotic Insertion Tasks via Hydroelastic Contact Model

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Robotic contact-rich insertion tasks present a significant challenge for motion planning due to the complex force interaction between robots and objects. Although many learning-based methods have shown success in contact tasks, most methods need sampling or exploring to gather sufficient experimenta...

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Bibliographic Details
Main Authors: Lin Yang, Mohammad Zaidi Ariffin, Baichuan Lou, Chen Lv, Domenico Campolo
Format: Article
Language:English
Published: MDPI AG 2023-07-01
Series:Machines
Subjects:
peg-in-hole assembly
motion planning
contact tasks
Dynamic Movement Primitives
Black-Box Optimization
hydroelastic contact model
Online Access:https://www.mdpi.com/2075-1702/11/7/741

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