Related papers: Complementarity-Free Multi-Contact Modeling and Op…
This paper develops closed-loop tactile controllers for dexterous robotic manipulation with a dual-palm robotic system. Tactile dexterity is an approach to dexterous manipulation that plans for robot/object interactions that render…
Manipulator dynamics, external forces and moments raise issues in stability and efficient control during aerial manipulation. Additionally, multirotor Micro Aerial Vehicles impose stringent limits on payload, actuation and system states. In…
Model Predictive Control (MPC) is a popular strategy for controlling robots but is difficult for systems with contact due to the complex nature of hybrid dynamics. To implement MPC for systems with contact, dynamic models are often…
The paper proposes an approach for the efficient model order reduction of dynamic contact problems in linear elasticity. Instead of the augmented Lagrangian method that is widely used for mechanical contact problems, we prefer here the…
With the maturation of differentiable physics, its role in various downstream applications: such as model predictive control, robotic design optimization, and neural PDE solvers, has become increasingly important. However, the derivative…
Planning contact-rich interactions for multi-finger manipulation is challenging due to the high-dimensionality and hybrid nature of dynamics. Recent advances in data-driven methods have shown promise, but are sensitive to the quality of…
Robotic manipulation research has investigated contact-rich problems and strategies that require robots to intentionally collide with their environment, to accomplish tasks that cannot be handled by traditional collision-free solutions. By…
Nonprehensile manipulation, such as pushing and pulling, enables robots to move, align, or reposition objects that may be difficult to grasp due to their geometry, size, or relationship to the robot or the environment. Much of the existing…
Human grasps can be roughly categorized into two types: power grasps and precision grasps. Precision grasping enables tool use and is believed to have influenced human evolution. Today's multi-fingered robotic hands are effective in power…
Performing highly agile acrobatic motions with a long flight phase requires perfect timing, high accuracy, and coordination of the full-body motion. To address these challenges, we present a novel approach on timings and trajectory…
The tremendous success of behavior cloning (BC) in robotic manipulation has been largely confined to tasks where demonstrations can be effectively collected through human teleoperation. However, demonstrations for contact-rich manipulation…
We believe that the future of robot motion planning will look very different than how it looks today: instead of complex collision avoidance trajectories with a brittle dependence on sensing and estimation of the environment, motion plans…
Wearable robotic hand rehabilitation devices can allow greater freedom and flexibility than their workstation-like counterparts. However, the field is generally lacking effective methods by which the user can operate the device: such…
Microscale manipulation has advanced substantially in controlled locomotion and targeted transport, yet many biomedical applications require precise and adaptive interaction with biological micro-objects. At these scales, manipulation is…
Whole-body control (WBC) has demonstrated significant advantages in complex interactive movements of high-dimensional robotic systems. However, when a robot is required to handle dynamic multi-contact combinations along a single kinematic…
Simulation of contact and friction dynamics is an important basis for control- and learning-based algorithms. However, the numerical difficulties of contact interactions pose a challenge for robust and efficient simulators. A…
In this paper, we propose a whole-body planning framework that unifies dynamic locomotion and manipulation tasks by formulating a single multi-contact optimal control problem. We model the hybrid nature of a generic multi-limbed mobile…
Object reorientation is a critical task for robotic grippers, especially when manipulating objects within constrained environments. The task poses significant challenges for motion planning due to the high-dimensional output actions with…
This paper presents an implementation and analysis of a five-fingered robotic grasping system that combines contact-based control with inverse kinematics solutions. Using the PyBullet simulation environment and the DexHand v2 model, we…
In this letter, we investigate learning forward dynamics models and multi-step prediction of state variables (long-term prediction) for contact-rich manipulation. The problems are formulated in the context of model-based reinforcement…