首页|Findings from Harbin Institute of Technology Broaden Understanding of Robotics ( Impact-aware Bimanual Catching of Largemomentum Objects)
Findings from Harbin Institute of Technology Broaden Understanding of Robotics ( Impact-aware Bimanual Catching of Largemomentum Objects)
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By a News Reporter-Staff News Editor at Robotics & Machine Learning Daily News Daily News-Investigators discuss new findings in Robotics. According to news reporting from Shenzhen, People's Republic of China, by NewsRx journalists, research stated, "This article investigates one of the m ost challenging tasks in dynamic manipulation-catching large-momentum moving obj ects. Beyond the realm of quasi-static manipulation, dealing with highly dynamic objects can significantly improve the robot's capability of interacting with it s surrounding environment." Financial support for this research came from National Natural Science Foundatio n of China (NSFC). The news correspondents obtained a quote from the research from the Harbin Insti tute of Technology, "Yet, the inevitable motion mismatch between the fast moving object and the approaching robot will result in large impulsive forces, which l ead to the unstable contacts and irreversible damage to both the object and the robot. To address the above problems, we propose an online optimization framewor k to: 1) estimate and predict the linear and angular motion of the object, 2) se arch and select the optimal contact locations across every surface of the object to mitigate impact through sequential quadratic programming, 3) simultaneously optimize the end-effector motion, stiffness, and contact force for both robots u sing multimode trajectory optimization (MMTO), and 4) realise the impact-aware c atching motion on the compliant robotic system based on indirect force controlle r."
ShenzhenPeople's Republic of ChinaAs iaEmerging TechnologiesMachine LearningRobotRoboticsHarbin Institute o f Technology
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