相关论文: Contact-Implicit Planning and Control for Non-Preh…
Contact-implicit motion planning-embedding contact sequencing as implicit complementarity constraints-holds the promise of leveraging continuous optimization to discover new contact patterns online. Nevertheless, the resulting optimization,…
Based on the convex force-motion polynomial model for quasi-static sliding, we derive the kinematic contact model to determine the contact modes and instantaneous object motion on a supporting surface given a position controlled…
This paper presents Contact Mode Guided Manipulation Planning (CMGMP) for 3D quasistatic and quasidynamic rigid body motion planning in dexterous manipulation. The CMGMP algorithm generates hybrid motion plans including both continuous…
We propose a spatial-constraint approach for modeling spatial-based interactions and enabling interactive visualizations, which involves the manipulation of visualizations through selection, filtering, navigation, arrangement, and…
The discontinuities and multi-modality introduced by contacts make manipulation planning challenging. Many previous works avoid this problem by pre-designing a set of high-level motion primitives like grasping and pushing. However, such…
We present a system for non-prehensile manipulation that require a significant number of contact mode transitions and the use of environmental contacts to successfully manipulate an object to a target location. Our method is based on deep…
Smoothed implicit contact dynamics enables gradient-based planning and control for contact-rich tasks without predefined mode sequences. However, safety-critical control remains challenging because implicit contact dynamics makes…
We propose a method that simultaneously estimates and controls extrinsic contact with tactile feedback. The method enables challenging manipulation tasks that require controlling light forces and accurate motions in contact, such as…
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…
In this work, we derive a region-based self-triggered control (STC) scheme for nonlinear systems with bounded disturbances and model uncertainties. The proposed STC scheme is able to guarantee different performance specifications (e.g.…
We present a novel technique to drive a nonlinear system to reach a target state under input constraints. The proposed controller consists only of piecewise constant inputs, generated from a simple linear driftless approximation to the…
This paper focuses on the spacecraft attitude control problem with intermittent actuator activation, taking into account the attitude rotation rate limitation and input saturation issue simultaneously. To address this problem, we first…
This work presents an event-triggered switching control framework for a class of nonlinear underactuated multi-channel systems with input constraints. These systems are inspired by cooperative manipulation tasks involving underactuation,…
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…
In this paper, we propose an event-based sampling policy to implement a constraint-tightening, robust MPC method. The proposed policy enjoys a computationally tractable design and is applicable to perturbed, linear time-invariant systems…
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…
This paper introduces a continuous-time constrained nonlinear control scheme which implements a model predictive control strategy as a continuous-time dynamic system. The approach is based on the idea that the solution of the optimal…
Self-triggered control (STC) and periodic event-triggered control (PETC) are aperiodic sampling techniques aiming at reducing control data communication when compared to periodic sampling. In both techniques, the effects of measurement…
Self-triggered control, a well-documented technique for reducing the communication overhead while ensuring desired system performance, is gaining increasing popularity. However, existing methods for self-triggered control require explicit…
What is a good local description of contact dynamics for contact-rich manipulation, and where can we trust this local description? While many approaches often rely on the Taylor approximation of dynamics with an ellipsoidal trust region, we…