Simultaneous Impact

Simultaneous impact control in robotics focuses on developing strategies for robots to reliably and precisely execute tasks involving multiple, nearly simultaneous impacts, such as grasping an object with two arms. Current research emphasizes robust control frameworks, often employing quadratic programming (QP) and reference spreading techniques, to manage the complex dynamics and uncertainties inherent in these interactions. These methods aim to minimize velocity errors and control input spikes during and after impact, improving the speed and efficiency of robotic manipulation. This work has significant implications for advancing robotic dexterity and enabling more agile and efficient manipulation in various applications.