基于力/力矩的机器人操作任务运动学适应
Original title: Force/Torque-Based Kinematic Adaptation for Robotic Manipulation Tasks
IndustryAI 64
Source: arXiv cs.ROPublish time unverified
arXiv:2608.21592v1 Announce Type: new Abstract: Contact-rich robotic manipulation requires an accurate model of the kinematic relationship between a robot's joints and the task features it senses. This relationship is rarely known exactly: it changes with each tool the robot picks up and shifts, sometimes almost instantaneously, as contact modes change --- especially for multi-fingered hands that make and break contact at points that are not exactly prescribed, as in full-hand grasping.