An Efficient Closed-Form Method for Optimal Hybrid Force-Velocity Control Article Swipe
Yifan Hou
,
Matthew T. Mason
·
YOU?
·
· 2020
· Open Access
·
· DOI: https://doi.org/10.48550/arxiv.2011.04872
YOU?
·
· 2020
· Open Access
·
· DOI: https://doi.org/10.48550/arxiv.2011.04872
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.
Related Topics
Concepts
Kinematics
Robustness (evolution)
Singularity
Robot
Computer science
Control theory (sociology)
Key (lock)
Optimal control
Mathematical optimization
Work (physics)
Mathematics
Control (management)
Artificial intelligence
Engineering
Mathematical analysis
Classical mechanics
Physics
Chemistry
Mechanical engineering
Biochemistry
Gene
Computer security
Metadata
- Type
- preprint
- Language
- en
- Landing Page
- http://arxiv.org/abs/2011.04872
- https://arxiv.org/pdf/2011.04872
- OA Status
- green
- References
- 31
- Related Works
- 10
- OpenAlex ID
- https://openalex.org/W3100048288
All OpenAlex metadata
Raw OpenAlex JSON
- OpenAlex ID
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https://openalex.org/W3100048288Canonical identifier for this work in OpenAlex
- DOI
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https://doi.org/10.48550/arxiv.2011.04872Digital Object Identifier
- Title
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An Efficient Closed-Form Method for Optimal Hybrid Force-Velocity ControlWork title
- Type
-
preprintOpenAlex work type
- Language
-
enPrimary language
- Publication year
-
2020Year of publication
- Publication date
-
2020-11-10Full publication date if available
- Authors
-
Yifan Hou, Matthew T. MasonList of authors in order
- Landing page
-
https://arxiv.org/abs/2011.04872Publisher landing page
- PDF URL
-
https://arxiv.org/pdf/2011.04872Direct link to full text PDF
- Open access
-
YesWhether a free full text is available
- OA status
-
greenOpen access status per OpenAlex
- OA URL
-
https://arxiv.org/pdf/2011.04872Direct OA link when available
- Concepts
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Kinematics, Robustness (evolution), Singularity, Robot, Computer science, Control theory (sociology), Key (lock), Optimal control, Mathematical optimization, Work (physics), Mathematics, Control (management), Artificial intelligence, Engineering, Mathematical analysis, Classical mechanics, Physics, Chemistry, Mechanical engineering, Biochemistry, Gene, Computer securityTop concepts (fields/topics) attached by OpenAlex
- Cited by
-
0Total citation count in OpenAlex
- References (count)
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31Number of works referenced by this work
- Related works (count)
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10Other works algorithmically related by OpenAlex
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| abstract_inverted_index.contact | 34 |
| abstract_inverted_index.derives | 2 |
| abstract_inverted_index.exists. | 52 |
| abstract_inverted_index.faster, | 93 |
| abstract_inverted_index.optimal | 47 |
| abstract_inverted_index.several | 113 |
| abstract_inverted_index.system, | 23 |
| abstract_inverted_index.avoiding | 62 |
| abstract_inverted_index.control. | 10 |
| abstract_inverted_index.includes | 25 |
| abstract_inverted_index.maximize | 16 |
| abstract_inverted_index.objects, | 29 |
| abstract_inverted_index.previous | 67, 83 |
| abstract_inverted_index.produces | 44 |
| abstract_inverted_index.randomly | 75 |
| abstract_inverted_index.solution | 48, 51 |
| abstract_inverted_index.complete, | 39 |
| abstract_inverted_index.computing | 7 |
| abstract_inverted_index.generated | 76 |
| abstract_inverted_index.iterative | 64 |
| abstract_inverted_index.kinematic | 18, 105 |
| abstract_inverted_index.producing | 96 |
| abstract_inverted_index.solutions | 98 |
| abstract_inverted_index.technique | 85 |
| abstract_inverted_index.efficient, | 55 |
| abstract_inverted_index.mechanical | 22 |
| abstract_inverted_index.robustness | 103 |
| abstract_inverted_index.closed-form | 4 |
| abstract_inverted_index.environment | 32 |
| abstract_inverted_index.outperforms | 81 |
| abstract_inverted_index.conditioning | 19 |
| abstract_inverted_index.consistently | 95 |
| abstract_inverted_index.constraints. | 35 |
| abstract_inverted_index.experiments. | 116 |
| abstract_inverted_index.manipulation | 115 |
| abstract_inverted_index.optimal/near | 46 |
| abstract_inverted_index.search-based | 84 |
| abstract_inverted_index.singularity. | 106 |
| abstract_inverted_index.force-velocity | 9 |
| abstract_inverted_index.representative | 114 |
| cited_by_percentile_year | |
| countries_distinct_count | 0 |
| institutions_distinct_count | 2 |
| citation_normalized_percentile |