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FORTE: Task-Adaptive Force Capability Optimization for Mobile Manipulators

arXiv · AI, language, vision and robotics · article · Sep 18, 2026 · UTC

Effective physical interaction control in robotic manipulation requires not only kinematically feasible motion but also sufficient force-interaction capability. Existing redundancy resolution methods often ignore task-specific force demands or maximize the force capability indiscriminately, sacrificing dexterity when large force margins are unnecessary. We propose a task-oriented force capability optimization framework for redundant mobile manipulators. A Vision-Language Model (VLM) infers object physical properties from an RGB image and a task description, generating a desired task-force sequ

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