Quasi Static

Quasi-static manipulation focuses on controlling the movement of objects, particularly robots and deformable materials, under the assumption of slow, gradual changes where inertial forces are negligible. Current research emphasizes developing robust control frameworks, often employing optimization algorithms like sequential quadratic programming and linear complementarity quadratic programming, to manage complex interactions, including contact and energy constraints, in scenarios ranging from minimally invasive surgery to object grasping. This research area is significant for advancing robotics capabilities in handling delicate or unpredictable objects, improving efficiency and safety in various applications, from automated manufacturing to medical procedures.