hybrid_servoing

A package for computing hybrid force-velocity control actions to execute a contact-rich motion plan robustly.

matlab implementation: algorithm/matlab/solvehfvc.m. c++ implementation: algorithm/c++/solvehfvc.h.

Author: Yifan Hou yifanh at cmu dot edu

Reference Yifan Hou, and Matthew T. Mason, " Robust Execution of Contact-Rich Motion Plans by Hybrid Force-Velocity Control“, IEEE International Conference on Robotics and Automation (ICRA) 2019.

Install

Dependency

• YAML support for matlab
• force_control

Build

This is a ROS package.

If you only need the matlab implementation, no install is necessary. algorithm/matlab/solvehfvc.m is self-contained.

Contents

• /algorithm Implementation of the hybrid servoing algorithm, in both matlab and c++.
• /examples/ (under development) Examples of solving contact-rich manipulation problems in Matlab.
• /experiments/ (under development) Run experiments of the examples. Use Matlab GUI with c++ solver.