相关论文: Multi-mode Trajectory Optimization for Impact-awar…

We propose a control framework which can utilize tactile information by exploiting the complementarity structure of contact dynamics. Since many robotic tasks, like manipulation and locomotion, are fundamentally based in making and breaking…

With the goal of increasing the speed and efficiency in robotic manipulation, a control approach is presented that aims to utilize intentional simultaneous impacts to its advantage. This approach exploits the concept of the time-invariant…

Bipedal robots have received much attention because of the variety of motion maneuvers that they can produce, and the many applications they have in various areas including rehabilitation. One of these motion maneuvers is walking. In this…

A standard motion control with feedback of the output displacement cannot handle unforeseen contact with environment without penetrating into the soft, i.e. viscoelastic, materials or even damaging the fragile materials. Robotics and…

Force modulation of robotic manipulators has been extensively studied for several decades. However, it is not yet commonly used in safety-critical applications due to a lack of accurate interaction contact modeling and weak performance…

Dexterous manipulation tasks often require switching between different contact modes, such as rolling, sliding, sticking, or non-contact contact modes. When formulating dexterous manipulation tasks as a trajectory optimization problem, a…

With the goal of enabling the exploitation of impacts in robotic manipulation, a new framework is presented for control of robotic manipulators that are tasked to execute nominally simultaneous impacts. In this framework, we employ tracking…

Humanoid robots have the potential capability to perform a diverse range of manipulation tasks, but this is based on a robust and precise standing controller. Existing methods are either ill-suited to precisely control high-dimensional…

Edge robotics involves frequent exchanges of large-volume multi-modal data. Existing methods ignore the interdependency between robotic functionalities and communication conditions, leading to excessive communication overhead. This paper…

This paper uses a mobile manipulator with a collaborative robotic arm to manipulate objects beyond the robot's maximum payload. It proposes a single-shot probabilistic roadmap-based method to plan and optimize manipulation motion with…

We describe a framework for changing-contact robot manipulation tasks that require the robot to make and break contacts with objects and surfaces. The discontinuous interaction dynamics of such tasks make it difficult to construct and use a…

Recent breakthroughs both in reinforcement learning and trajectory optimization have made significant advances towards real world robotic system deployment. Reinforcement learning (RL) can be applied to many problems without needing any…

Complex dexterous manipulations require switching between prehensile and non-prehensile grasps, and sliding and pivoting the object against the environment. This paper presents a manipulation planner that is able to reason about diverse…

Heavy-duty operations, typically performed using heavy-duty hydraulic manipulators (HHMs), are susceptible to environmental contact due to tracking errors or sudden environmental changes. Therefore, beyond precise control design, it is…

We present a contact-implicit trajectory optimization framework that can plan contact-interaction trajectories for different robot architectures and tasks using a trivial initial guess and without requiring any parameter tuning. This is…

This paper presents a multi-contact approach to generalized humanoid fall mitigation planning that unifies inertial shaping, protective stepping, and hand contact strategies. The planner optimizes both the contact sequence and the robot…

The current dominant paradigm for robotic manipulation involves two separate stages: manipulator design and control. Because the robot's morphology and how it can be controlled are intimately linked, joint optimization of design and control…

We present a numerically tractable formulation for computing the optimal control of the class of hybrid dynamical systems whose trajectories are continuous. Our formulation, an extension of existing relaxed-control techniques for switched…

Robotic manipulation can greatly benefit from the data efficiency, robustness, and predictability of model-based methods if robots can quickly generate models of novel objects they encounter. This is especially difficult when effects like…

Non-prehensile manipulation is challenging due to complex contact interactions between objects, the environment, and robots. Model-based approaches can efficiently generate complex trajectories of robots and objects under contact…