相关论文: Contact-Implicit Trajectory Optimization using an …

This paper explores an eclectic range of path-planning methodologies engineered for rolling surfaces. Our focus is on the kinematic intricacies of rolling contact systems, which are investigated through a motion planning lens. Beyond…

Trajectory optimization under uncertainties is a challenging problem for robots in contact with the environment. Such uncertainties are inevitable due to estimation errors, control imperfections, and model mismatches between planning models…

Robotic manipulation in unstructured environments requires planners to reason jointly about free-space motion and sustained, frictional contact with the environment. Existing (local) planning and simulation frameworks typically separate…

Iterative trajectory optimization techniques for non-linear dynamical systems are among the most powerful and sample-efficient methods of model-based reinforcement learning and approximate optimal control. By leveraging time-variant local…

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…

Robots often have to perform manipulation tasks in close proximity to people. As such, it is desirable to use a robot arm that has limited joint torques to not injure the nearby person and interacts with the environment to explore new…

We present a contact-implicit planning approach that can generate contact-interaction trajectories for non-prehensile manipulation problems without tuning or a tailored initial guess and with high success rates. This is achieved by…

During the conceptual and prototype design stage of an industrial product, it is crucial to take assembly/disassembly and maintenance operations in advance. A well-designed system should enable relatively easy access of operating…

This paper focuses on robustness to disturbance forces and uncertain payloads. We present a novel formulation to optimize the robustness of dynamic trajectories. A straightforward transcription of this formulation into a nonlinear…

Vehicle trajectory optimization is essential to ensure vehicles travel efficiently and safely. This paper presents an infrastructure assisted constrained connected automated vehicles (CAVs) trajectory optimization method on curved roads.…

Hybrid locomotion, which combines multiple modalities of locomotion within a single robot, enables robots to carry out complex tasks in diverse environments. This paper presents a novel method for planning multi-modal locomotion…

Glovebox decommissioning tasks usually require manipulating relatively heavy objects in a highly constrained environment. Thus, contact with the surroundings becomes inevitable. In order to allow the robot to interact with the environment…

We present a quasi-static finite element simulator for human face animation. We model the face as an actuated soft body, which can be efficiently simulated using Projective Dynamics (PD). We adopt Incremental Potential Contact (IPC) to…

Direct collocation methods are powerful tools to solve trajectory optimization problems in robotics. While their resulting trajectories tend to be dynamically accurate, they may also present large kinematic errors in the case of constrained…

Recently, the centroidal momentum dynamics has received substantial attention to plan dynamically consistent motions for robots with arms and legs in multi-contact scenarios. However, it is also non convex which renders any optimization…

This paper presents a trajectory generation method for contact-constrained robotic systems such as manipulators and legged robots. Contact-constrained systems are affected by the interaction forces between the robot and the environment. In…

In this work, we present an extension to a linear Model Predictive Control (MPC) scheme that plans external contact forces for the robot when given multiple contact locations and their corresponding friction cone. To this end, we set up a…

Whether rigid or compliant, contact interactions are inherent to robot motions, enabling them to move or manipulate things. Contact interactions result from complex physical phenomena, that can be mathematically cast as Nonlinear…

This paper demonstrates a refined approach to solving dynamic optimization problems for underactuated marine surface vessels. To this end the differential flatness of a mathematical model assuming full actuation is exploited to derive an…

We present a framework for bi-level trajectory optimization in which a system's dynamics are encoded as the solution to a constrained optimization problem and smooth gradients of this lower-level problem are passed to an upper-level…