A planning framework for robotic insertion tasks via hydroelastic contact model

Robotic contact-rich insertion tasks present a significant challenge for motion planning due to the complex force interaction between robots and objects. Although many learning-based methods have shown success in contact tasks, most methods need sampling or exploring to gather sufficient experimenta...

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Bibliographic Details
Main Authors: Yang, Lin, Mohammad Zaidi Ariffin, Lou, Baichuan, Lv, Chen, Campolo, Domenico
Other Authors: School of Mechanical and Aerospace Engineering
Format: Article
Language:English
Published: 2023
Subjects:
Online Access:https://hdl.handle.net/10356/171062
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Institution: Nanyang Technological University
Language: English
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