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Hierarchical Contact-Rich Trajectory Optimization for Multi-Modal Manipulation using Tight Convex Relaxations
In this paper, we present a novel framework for simultaneously designing trajectories of robots, objects, and contacts efficiently for contact-rich manipulation.
Is Linear Feedback on Smoothed Dynamics Sufficient for Stabilizing Contact-Rich Plans?
Designing planners and controllers for contact-rich manipulation is extremely challenging as contact violates the smoothness conditions that many gradient-based controller synthesis tools assume.
Robust Pivoting Manipulation using Contact Implicit Bilevel Optimization
This requirement makes manipulation extremely challenging as a robot has to reason about complex frictional interactions with uncertainty in physical properties of the object and the environment.
Simultaneous Contact-Rich Grasping and Locomotion via Distributed Optimization Enabling Free-Climbing for Multi-Limbed Robots
While motion planning of locomotion for legged robots has shown great success, motion planning for legged robots with dexterous multi-finger grasping is not mature yet.
Robust Pivoting: Exploiting Frictional Stability Using Bilevel Optimization
Generalizable manipulation requires that robots be able to interact with novel objects and environment.
Chance-Constrained Optimization in Contact-Rich Systems for Robust Manipulation
In our formulation, we explicitly consider joint chance constraints for complementarity as well as states to capture the stochastic evolution of dynamics.
