Robust Execution using Hybrid Force-velocity Control

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

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, To appear.

Contents

• /algorithm/solvehfvc.m Implementation of the algorithm.
• /examples/ Three examples of contact-rich manipulation problems.