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Impact-Aware Robotic Manipulation: Quantifying the Sim-To-Real Gap for Velocity Jumps by van Steen, Jari; Stokbroekx, Daan; van de Wouw, Nathan; Saccon, Alessandro is a scholarly article available to read on EtoBox.

What is Impact-Aware Robotic Manipulation: Quantifying the Sim-To-Real Gap for Velocity Jumps about?

Impact-aware robotic manipulation benefits from an accurate map from ante-impact to post-impact velocity signals to support, e.g., motion planning and control. This work proposes an approach to generate and experimentally validate such impact maps from simulations with a physics engine, allowing to model impact scenarios of arbitrarily large complexity. This impact map captures the velocity jump assuming an instantaneous contact transition between rigid objects, neglecting the nearly instantaneous contact transition and impact-induced vibrations. Feedback control, which is required for complex impact scenarios, will affect velocity signals when these vibrations are still active, making an evaluation solely based on velocity signals as in previous works unreliable. Instead, the proposed validation approach uses the reference spreading control framework, which aims to reduce peaks and jumps in the control feedback signals by using a reference consistent with the rigid impact map together with a suitable control scheme. Based on the key idea that selecting the correct rigid impact map in this reference spreading framework will minimize the net feedback signal, the rigid impact map is

Author

van Steen, Jari; Stokbroekx, Daan; van de Wouw, Nathan; Saccon, Alessandro

Published

2024

Language

EN