Related papers: Contact-Implicit Trajectory Optimization using an …
Humanoid robots have great potential for real-world applications due to their ability to operate in environments built for humans, but their deployment is hindered by the challenge of controlling their underlying high-dimensional nonlinear…
Contact-implicit trajectory optimization (CITO) enables the automatic discovery of contact sequences, but most methods rely on fine time discretization to capture all contact events accurately, which increases problem size and runtime while…
We present a novel class of robots belonging to Constrained Collaborative Mobile Agents (CCMA) family which consists of ground mobile bases with non-holonomic constraints. Moreover, these mobile robots are constrained by closed-loop…
In interactions between automated vehicles (AVs) and crossing pedestrians, modeling implicit vehicle communication is crucial. In this work, we present a combined prediction and planning approach that allows to consider the influence of the…
Contact-rich manipulation plays an important role in daily human activities. However, uncertain physical parameters often pose significant challenges for both planning and control. A promising strategy is to develop policies that are robust…
Dexterous manipulation requires careful reasoning over extrinsic contacts. The prevalence of deforming tools in human environments, the use of deformable sensors, and the increasing number of soft robots yields a need for approaches that…
Robots are finding new applications where physical interaction with a human is necessary: manufacturing, healthcare, and social tasks. Accordingly, the field of physical human-robot interaction (pHRI) has leveraged impedance control…
This paper introduces Function-space Adaptive Constrained Trajectory Optimization (FACTO), a new trajectory optimization algorithm for both single- and multi-arm manipulators. Trajectory representations are parameterized as linear…
In hybrid industrial environments, workers' comfort and positive perception of safety are essential requirements for successful acceptance and usage of collaborative robots. This paper proposes a novel human-robot interaction framework in…
We introduce a modeling framework for manipulation planning based on the formulation of the dynamics as a projected dynamical system. This method uses implicit signed distance functions and their gradients to formulate an equivalent…
In this paper we introduce an abstract nonsmooth optimization problem and prove existence and uniqueness of its solution. We present a numerical scheme to approximate this solution. The theory is later applied to a sample static contact…
We present a general approach for controlling robotic systems that make and break contact with their environments. Contact-implicit model predictive control (CI-MPC) generalizes linear MPC to contact-rich settings by utilizing a bi-level…
This paper presents a trajectory optimization and control approach for the guidance of an orbital four-arm robot in extravehicular activities. The robot operates near the target spacecraft, enabling its arm's end-effectors to reach the…
In unknown cluttered environments with densely stacked objects, the free-motion space is extremely barren, posing significant challenges to motion planners. Collision-free planning methods often suffer from catastrophic failures due to…
Legged robots are typically in rigid contact with the environment at multiple locations, which add a degree of complexity to their control. We present a method to control the motion and a subset of the contact forces of a floating-base…
Contact-rich manipulation is challenging due to its high dimensionality, the requirement for long time horizons, and the presence of hybrid contact dynamics. Sampling-based methods have become a popular approach for this class of problems,…
We present a principled method for motion prediction via dynamic simulation for rigid bodies in intermittent contact with each other where the contact region is a planar non-convex contact patch. Such methods are useful in planning and…
In this paper we present an abstract nonsmooth optimization problem for which we recall existence and uniqueness results. We show a numerical scheme to approximate its solution. The theory is later applied to a sample static contact problem…
To achieve general-purpose dexterous manipulation, robots must rapidly devise and execute contact-rich behaviors. Existing model-based controllers are incapable of globally optimizing in real-time over the exponential number of possible…
While many robotic tasks, like manipulation and locomotion, are fundamentally based in making and breaking contact with the environment, state-of-the-art control policies struggle to deal with the hybrid nature of multi-contact motion. Such…