2026
Learning-Guided Force-Feedback Model Predictive Control with Obstacle Avoidance for Robotic Deburring
Krzysztof Wojciechowski, Ege Gursoy, Arthur Haffemayer, Sebastien Kleff, Vincent Bonnet, Florent Lamiraux +1
ICRA 2026poster
Model Predictive Control (MPC) is widely used for torque-controlled robots, but classical formulations often neglect real-time force feedback and struggle with contact-rich industrial tasks under collision constraints. Deburring in particular requires precise tool insertion, stable force regulation,…