Reactive planar nonprehensile manipulation with hybrid model predictive control
This article presents an offline solution and online approximation to the hybrid control problem of planar non-prehensile manipulation. Hybrid dynamics and underactuation are key characteristics of this task that complicate the design of feedback controllers. We show that a model predictive control...
| Main Authors: | , |
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| Other Authors: | |
| Format: | Article |
| Language: | English |
| Published: |
SAGE Publications
2022
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| Online Access: | https://hdl.handle.net/1721.1/141404 |