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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
Published in:
IROS (2020)
Keyphrases
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force control
contact force
robot manipulators
closed loop
optimization algorithm
robotic cell
control strategy
optimization problems
optimization methods
optimization method
global optimization
dynamic model
control law
configuration space
impedance control