Preprint
Sep 2026
FORTE: Task-Adaptive Force Capability Optimization for Mobile Manipulators
Effective physical interaction control in robotic manipulation requires not only kinematically feasible motion but also sufficient force-interaction capability. Existing redundancy resolution methods often ignore task-specific force demands or maximize the force capability indiscriminately, sacrificing dexterity when l...
Xiao Wang, Heng Zhang, Gokhan Solak et al.
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