论文标题
通过线性互补性二次编程进行准危机富含接触的操作
Quasistatic contact-rich manipulation via linear complementarity quadratic programming
论文作者
论文摘要
由于接触模式在操纵过程中发生了动态变化的物理约束，因此富含接触的操作是具有挑战性的。本文提出了一个多功能的本地规划和控制框架，用于接触丰富的操纵，以决定可变触点模式下的连续控制动作。我们通过过渡动力学和互补约束对接触操作的物理特征进行建模。然后，我们提出了一个线性互补性二次程序（LCQP），以有效地确定在这些约束下隐式包含触点模式上的决策的控制动作。在LCQP中，我们放宽了互补性约束，以减轻通常是由测量噪声或模型失误匹配引起的条件不足的问题。我们对3D物理模拟器进行动态模拟，并证明所提出的方法可以通过确定包括接触模式的控制动作来实现各种富含接触的操作任务。
Contact-rich manipulation is challenging due to dynamically-changing physical constraints by the contact mode changes undergone during manipulation. This paper proposes a versatile local planning and control framework for contact-rich manipulation that determines the continuous control action under variable contact modes online. We model the physical characteristics of contact-rich manipulation by quasistatic dynamics and complementarity constraints. We then propose a linear complementarity quadratic program (LCQP) to efficiently determine the control action that implicitly includes the decisions on the contact modes under these constraints. In the LCQP, we relax the complementarity constraints to alleviate ill-conditioned problems that are typically caused by measure noises or model miss-matches. We conduct dynamical simulations on a 3D physical simulator and demonstrate that the proposed method can achieve various contact-rich manipulation tasks by determining the control action including the contact modes in real-time.
