IROS

Trajectory Optimization for In-Hand Manipulation with Tactile Force Control

手部操作轨迹优化与触觉力控

Haegu Lee, Yitaek Kim, Victor Melbye Staven, Christoffer Sloth

机构 * Maersk Mc-Kinney Moller Institute（马士基麦金尼摩勒研究所） ； University of Southern Denmark（丹麦南部大学） 纠错

AI总结 本文提出了一种基于优化的框架，通过引入力控和状态估计器，提升机械手在手操作中滚动物体的准确性和鲁棒性。

Comments This paper has been accepted to IROS 2025

Journal ref Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2025

Exploring How Non-Prehensile Manipulation Expands Capability in Robots Experiencing Multi-Joint Failure

探索非抓取操作如何在多关节故障的机器人中扩展能力

Gilberto Briscoe-Martinez, Anuj Pasricha, Ava Abderezaei, Santosh Chaganti, Sarath Chandra Vajrala, Sri Kanth Popuri, Alessandro Roncone

机构 * Department of Computer Science, University of Colorado Boulder（计算机科学系，科罗拉多大学博尔德分校） 纠错

AI总结 本文提出一种非抓取操作方法，通过建模故障约束工作空间和生成运动动力学地图，提升机器人在多关节故障下的操作能力。

Comments To be published in the 2024 IEEE/RSJ International Conference on Intelligent Robots and Systems