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Simultaneous Trajectory Optimization and Force Control with Soft Contact Mechanics.
Lasitha Wijayarathne
Qie Sima
Ziyi Zhou
Ye Zhao
Frank L. Hammond III
Published in:
CoRR (2020)
Keyphrases
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force control
contact force
robot manipulators
optimization algorithm
robotic cell
global optimization
control strategy
master slave
impedance control
optimization problems
closed loop
optimization methods
control law
real time
optimization method
multi agent
finite element analysis