通过优化身体表面接触点，实现机器人全身接触运动的自动姿态生成。
Optimization-based Posture Generation for Whole-body Contact Motion by Contact Point Search on the Body Surface
- 用二维参数表示接触点，联合优化关节位姿与接触位置。
- 在实验中成功实现机器人利用全身接触高效抓取物体。
- 适合需要稳定高效率运动的复杂场景机器人控制研究者。
全身接触是提升机器人运动稳定性与效率的有效策略。为使机器人能自动执行此类动作，本文提出一种姿态生成方法，充分利用机器人各连杆的可用表面作为接触面。通过将身体表面的接触点表示为二维配置变量，采用基于梯度的优化方法，同步确定关节位置与接触点。利用该方法生成运动后，我们在实验中展示了机器人能有效利用全身接触完成物体操作任务。
原文摘要 · Abstract (English)
Whole-body contact is an effective strategy for improving the stability and efficiency of the motion of robots. For robots to automatically perform such motions, we propose a posture generation method that employs all available surfaces of the robot links. By representing the contact point on the body surface by two-dimensional configuration variables, the joint positions and contact points are simultaneously determined through a gradient-based optimization. By generating motions with the proposed method, we present experiments in which robots manipulate objects effectively utilizing whole-body contact.
Thank you to arXiv for use of its open access interoperability. PaperDance 不是 arXiv 官方产品；中文卡片由大模型生成，请以原文为准。