A multi-modal controller that switches between optimization-based planning and force control completes simulated single-arm, bimanual, and four-arm manipulation tasks.
Unified impedance and ad- mittance control,
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An Optimization-Augmented Control Framework for Single and Coordinated Multi-Arm Robotic Manipulation
A multi-modal controller that switches between optimization-based planning and force control completes simulated single-arm, bimanual, and four-arm manipulation tasks.