Differentiable Compliant Contact Primitives for Estimation and Model Predictive Control-Reference-Cited by-同舟云学术

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Differentiable Compliant Contact Primitives for Estimation and Model Predictive Control

Published:2024-05-13 Issue: Volume:18 Page:17146-17152
ISSN:
Container-title:2024 IEEE International Conference on Robotics and Automation (ICRA)
language:
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Author:

Haninger Kevin¹,Samuel Kangwagye²,Rozzi Filippo³,Oh Sehoon⁴,Roveda Loris⁵

Affiliation:

1. Fraunhofer IPK,Department of Automation,Berlin,Germany

2. Technical University Munich (TUM),Chair of Robotics and Systems Intelligence and Munich Institute of Robotics and Machine Intelligence,Munich,Germany,D-80797

3. Politecnico di Milano,Department of Mechanical Engineering,Milano,Italy

4. DGIST,Department of Robotics and Mechatronics Engineering,Daegu,Korea,42988

5. Scuola Universitaria Professionale Della Svizzera Italiana (SUPSI), Università Della Svizzera Italiana (USI) IDSIA-SUPSI,Istituto Dalle Molle di Studi Sull’Intelligenza Artificiale (IDSIA),Lugano,Switzerland

Funder

National Research Foundation of Korea

Publisher

IEEE

Link

http://xplorestaging.ieee.org/ielx8/10609961/10609862/10611406.pdf?arnumber=10611406

Reference35 articles.

1. Model Predictive Robot-Environment Interaction Control for Mobile Manipulation Tasks

2. Sensorless environment stiffness and interaction force estimation for impedance control tuning in robotized interaction tasks

3. Underactuated Robotics: Algorithms for Walking, Running, Swimming, Flying, and Manipulation (Course Notes for MIT 6.832);Tedrake,2020

4. Trajectory Optimization With Implicit Hard Contacts

5. Efficient Contact Mode Enumeration in 3D

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