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Research questionHow can real-time manipulation handle nonlinear dynamics while maintaining safe, compliant force control?During physical interaction, manipulators must respond quickly while nonlinear dynamics and contact forces make prediction and constraint enforcement difficult. Delayed or inaccurate control can undermine both safety and compliant behavior.
Robotics
Latest papersRecent research connected to this question, newest first.Real-Time Dynamics-Based Torque-Sampling MPPI for Compliant and Force Aware ManipulationThe study concerns task-space control for a 7-DoF manipulator using real-time model predictive control, explicit rigid-body dynamics, safety constraints, and torque sampling for GPU parallelization. It reports solver updates above 166 Hz with a 0.18-second prediction horizon and validates compliant, force-aware behavior in real-world experiments.research paper · Sep 2, 2026
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