An Optimal Control Formulation of Tool Affordance Applied to Impact Tasks
IEEE TRANSACTIONS ON ROBOTICS（2024）
Key words
Task analysis,Robots,Affordances,Planning,Nails,Optimal control,Force,Alternating direction method of multipliers (ADMM),constrained motion planning,directional manipulability maximization,impact-aware motion,iterative linear quadratic regulator (iLQR),optimal control
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