Robot-Safe Impacts with Soft Contacts Based on Learned Deformations
Niels Dehio Abderrahmane Kheddar Niels Dehio Abderrahmane Kheddar
Safely generating impacts with robots is challenging due to subsequent discontinuous velocity and high impact forces. We aim at increasing the impact velocity – the robot’s relative speed prior to contact – such that impact-tasks like grabbing and boxing are made with the highest allowable speed performance when needed. Previous works addressed this problem for rigid bodies’ impacts. This letter p...