# Robust Execution of Contact-Rich Motion Plans by Hybrid Force-Velocity Control

## TL;DR

This paper introduces an optimization-based algorithm for hybrid force-velocity control in robots, enhancing robustness and effectiveness in contact-rich manipulation tasks by balancing force and velocity controls.

## Contribution

It presents a novel method to compute hybrid force-velocity control actions, optimizing robustness and control trade-offs for contact-rich tasks.

## Key findings

- Effective in contact-rich manipulation tasks
- Robust control actions can be efficiently computed
- Demonstrated improved performance in experiments

## Abstract

In hybrid force-velocity control, the robot can use velocity control in some directions to follow a trajectory, while performing force control in other directions to maintain contacts with the environment regardless of positional errors. We call this way of executing a trajectory hybrid servoing. We propose an algorithm to compute hybrid force-velocity control actions for hybrid servoing. We quantify the robustness of a control action and make trade-offs between different requirements by formulating the control synthesis as optimization problems. Our method can efficiently compute the dimensions, directions and magnitudes of force and velocity controls. We demonstrated by experiments the effectiveness of our method in several contact-rich manipulation tasks. Link to the video: https://youtu.be/KtSNmvwOenM.