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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Hlavní autoři: Lin Yang, Mohammad Zaidi Ariffin, Baichuan Lou, Chen Lv, Domenico Campolo
Médium: Článek
Jazyk:English
Vydáno: MDPI AG 2023-07-01
Edice:Machines
Témata:
peg-in-hole assembly
motion planning
contact tasks
Dynamic Movement Primitives
Black-Box Optimization
hydroelastic contact model
On-line přístup:https://www.mdpi.com/2075-1702/11/7/741

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https://www.mdpi.com/2075-1702/11/7/741

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