Thats a unique idea.You should consider the following idea to enhance your idea so that it would impact uniquely: This work deals with the problem of force/position trajectory tracking under uncertainties arising from surface position and orientation. A robotic finger with a soft hemispherical tip of uncertain compliance parameter is considered in contact with a rigid flat surface. A novel adaptive controller is designed using online estimates of the unknown parameters and is proved to achieve force and position tracking by ensuring the convergence of the estimated normal to the surface direction to its actual value. The performance of the proposed controller is demonstrated by a simulation example.
['Zoe Doulgeri', 'Yiannis Karayiannidis']
I am writing a research paper on a idea Force/Position Tracking of a Robot in Compliant Contact with Unknown Stiffness and Surface Kinematics
[{"from": "human", "value": "I am writing a research paper on a idea Force/Position Tracking of a Robot in Compliant Contact with Unknown Stiffness and Surface Kinematics"}, {"from": "gpt", "value": "Thats a unique idea.You should consider the following idea to enhance your idea so that it would impact uniquely: This work deals with the problem of force/position trajectory tracking under uncertainties arising from surface position and orientation. A robotic finger with a soft hemispherical tip of uncertain compliance parameter is considered in contact with a rigid flat surface. A novel adaptive controller is designed using online estimates of the unknown parameters and is proved to achieve force and position tracking by ensuring the convergence of the estimated normal to the surface direction to its actual value. The performance of the proposed controller is demonstrated by a simulation example."}]