An Efficient Closed-Form Method for Optimal Hybrid Force-Velocity Control

by   Yifan Hou, et al.

This paper derives a closed-form method for computing hybrid force-velocity control. The key idea is to maximize the kinematic conditioning of the mechanical system, which includes a robot, free objects, a rigid environment and contact constraints. The method is complete, in that it always produces an optimal/near optimal solution when a solution exists. It is efficient, since it is in closed form, avoiding the iterative search of previous work. We test the method on 78,000 randomly generated test cases. The method outperforms our previous search-based technique by being from 7 to 40 times faster, while consistently producing better solutions in the sense of robustness to kinematic singularity. We also test the method in several representative manipulation experiments.


Robust Execution of Contact-Rich Motion Plans by Hybrid Force-Velocity Control

In hybrid force-velocity control, the robot can use velocity control in ...

Stable Haptic Teleoperation of UAVs via Small L_2 Gain and Control Barrier Functions

We present a novel haptic teleoperation approach that considers not only...

Robust and Scalable Bayesian Online Changepoint Detection

This paper proposes an online, provably robust, and scalable Bayesian ap...

Triangulation: Why Optimize?

For decades, it has been widely accepted that the gold standard for two-...

LQR-Assisted Whole-Body Control of a Wheeled Bipedal Robot with Kinematic Loops

We present a hierarchical whole-body controller leveraging the full rigi...

A Closed-Form Solution to Local Non-Rigid Structure-from-Motion

A recent trend in Non-Rigid Structure-from-Motion (NRSfM) is to express ...

Procrustes Analysis with Deformations: A Closed-Form Solution by Eigenvalue Decomposition

Generalized Procrustes Analysis (GPA) is the problem of bringing multipl...

Please sign up or login with your details

Forgot password? Click here to reset