Interaction model estimation-based robotic force-position coordinated optimization for rigid-soft heterogeneous contact tasks  

作　　者：Haochen Zheng Xueqian Zhai Hongmin Wu Jia Pan Zhihao Xu Xuefeng Zhou 

机构地区：[1]Institute of Intelligent Manufacturing,Guangdong Academy of Sciences,Guangdong Key Laboratory of Modern Control Technology,Guangzhou 510070,China [2]School of Rail Transportation,Wuyi University,Jiangmen 529020,China [3]Department of Computer Science,The University of Hong Kong,Hong Kong 999077,China

出　　处：《Biomimetic Intelligence & Robotics》2025年第1期77-86,共10页仿生智能与机器人(英文)

基　　金：supported in part by the National Natural Science Foundation of China(62203126);the Science and Technology Plan Project of Guangdong Province(2023A0505010014);the Innovation and Technology Commission of the HKSAR Government under the InnoHK Initiative,and in part by the Key Areas R&D Program of Dongguan City(20201200300062);the GDAS’Project of Science and Technology Development(2022GDASZH-2022010108).

摘　　要：Inspired by Model Predictive Interaction Control(MPIC),this paper proposes differential models for estimating contact geometric parameters and normal-friction forces and formulates an optimal control problem with multiple constraints to allow robots to perform rigid-soft heterogeneous contact tasks.Within the MPIC,robot dynamics are linearized,and Extended Kalman Filters are used for the online estimation of geometry-aware parameters.Meanwhile,a geometry-aware Hertz contact model is introduced for the online estimation of contact forces.We then implement the force-position coordinate optimization by incorporating the contact parameters and interaction force constraints into a gradient-based optimization MPC.Experimental validations were designed for two contact modes:“single-point contact”and“continuous contact”,involving materials with four different Young’s moduli and tested in human arm“relaxation-contraction”task.Results indicate that our framework ensures consistent geometry-aware parameter estimation and maintains reliable force interaction to guarantee safety.Our method reduces the maximum impact force by 50%and decreases the average force error by 42%.The proposed framework has potential applications in medical and industrial tasks involving the manipulation of rigid,soft,and deformable objects.

关 键 词：Heterogeneous contact Interaction model estimation Coordination optimization Model Predictive Control 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]