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While modeling multi-contact manipulation as a quasi-static mechanical process transitioning between different contact equilibria, we propose formulating it as a planning and optimization problem, explicitly evaluating (i) contact stability…
A central aspect of robotic motion planning is collision avoidance, where a multitude of different approaches are currently in use. Optimization-based motion planning is one method, that often heavily relies on distance computations between…
High-performance closed-loop control of truly soft continuum manipulators has remained elusive. Experimental demonstrations have largely relied on sufficiently stiff, piecewise architectures in which each actuated segment behaves as a…
This paper presents a novel approach for collision avoidance in optimal and model predictive control, in which the environment is represented by a large number of points and the robot as a union of padded polygons. The conditions that none…
As robots operate in increasingly complex and dynamic environments, fast motion re-planning has become a widely explored area of research. In a real-world deployment, we often lack the ability to fully observe the environment at all times,…
Optimizing accelerator control is a critical challenge in experimental particle physics, requiring significant manual effort and resource expenditure. Traditional tuning methods are often time-consuming and reliant on expert input,…
We present a GPU-friendly framework for real-time implicit simulation of elastic material in the presence of frictional contacts. The integration of hyperelasticity, non-interpenetration contact, and friction in real-time simulations…
A key challenge in robotics is the efficient generation of optimal robot motion with safety guarantees in cluttered environments. Recently, deterministic optimal sampling-based motion planners have been shown to achieve good performance…
A cable-driven soft-bodied robot with redundancy can conduct the trajectory tracking task and in the meanwhile fulfill some extra constraints, such as tracking through an end-effector in designated orientation, or get rid of the evitable…
Robotic cutting of soft materials is critical for applications such as food processing, household automation, and surgical manipulation. As in other areas of robotics, simulators can facilitate controller verification, policy learning, and…
Generating motions for robots interacting with objects of various shapes is a complex challenge, further complicated by the robot geometry and multiple desired behaviors. While current robot programming tools (such as inverse kinematics,…
In this work, we propose a trajectory generation method for robotic systems with contact force constraint based on optimal control and reachability analysis. Normally, the dynamics and constraints of the contact-constrained robot are…
Sim-to-real transfer remains a significant challenge in soft robotics due to the unpredictability introduced by common manufacturing processes such as 3D printing and molding. These processes often result in deviations from simulated…
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…
Reliable robotic manipulation requires control policies that can accurately represent and adapt to uncertainty arising from contact-rich interactions. Modern data-driven methods mitigate uncertainty through large-scale training and…
We present an efficient spacetime optimization method to automatically generate animations for a general volumetric, elastically deformable body. Our approach can model the interactions between the body and the environment and automatically…
Being able to reproduce physical phenomena ranging from light interaction to contact mechanics, simulators are becoming increasingly useful in more and more application domains where real-world interaction or labeled data are difficult to…
In some high-precision industrial applications, robots are deployed to perform precision assembly tasks on mass batches of manufactured pegs and holes. If the peg and hole are designed with transition fit, machining errors may lead to…
Robot design optimization, imitation learning and system identification share a common problem which requires optimization over robot or task parameters at the same time as optimizing the robot motion. To solve these problems, we can use…
An impedance-based control scheme is introduced for cooperative manipulators grasping a rigid load. The position and orientation of the load are to be maintained close to a desired trajectory, trading off tracking accuracy by low energy…