แนวคิดหลัก
Optimizing impact-aware catching of large-momentum objects through online optimization and multi-mode trajectory planning.
บทคัดย่อ
This paper investigates the challenging task of catching large-momentum moving objects through impact-aware bimanual manipulation. The proposed framework optimizes contact locations, motion, stiffness, and force profiles to mitigate impact and enable dynamic manipulation tasks. The content is structured into sections focusing on object motion estimation, impact mechanics, contact selection, hybrid motion planning, and control mechanisms.
สถิติ
"Two KUKA-iiwa robots catching a flying large-momentum box that weighs 4.2 kg and travels with speed larger than 3.5 m/s."
"The impulse distribution, contact selection, and impact-aware MMTO algorithms are validated in simulation."
"The proposed framework is experimentally validated on hardware using two KUKA LBR iiwa robots."
คำพูด
"To address the above problems, we propose an online optimization framework to estimate and predict the linear and angular motion of the object."
"The aim of this paper is to decrease impulsive forces when making contact to enable impact-aware dynamic manipulation tasks."