相关论文: Explicit Contact Optimization in Whole-Body Contac…

In this paper, we devise methods for the multi- objective control of humanoid robots, a.k.a. prioritized whole- body controllers, that achieve efficiency and robustness in the algorithmic computations. We use a form of whole-body…

Planning robot dexterity is challenging due to the non-smoothness introduced by contacts, intricate fine motions, and ever-changing scenarios. We present a hierarchical planning framework for dexterous robotic manipulation (HiDex). This…

Contact planning is crucial in locomoting systems.Specifically, appropriate contact planning can enable versatile behaviors (e.g., sidewinding in limbless locomotors) and facilitate speed-dependent gait transitions (e.g., walk-trot-gallop…

Human-robot collaboration (HRC) requires robots to adapt their motions to human intent to ensure safe and efficient cooperation in shared spaces. Although large language models (LLMs) provide high-level reasoning for inferring human intent,…

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…

Designing trajectories for manipulation through contact is challenging as it requires reasoning of object \& robot trajectories as well as complex contact sequences simultaneously. In this paper, we present a novel framework for…

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…

In this work we present a trajectory Optimization framework for whole-body motion planning through contacts. We demonstrate how the proposed approach can be applied to automatically discover different gaits and dynamic motions on a…

Humanoid robots are machines built with an anthropomorphic shape. Despite decades of research into the subject, it is still challenging to tackle the robot locomotion problem from an algorithmic point of view. For example, these machines…

This paper presents a novel contact-implicit trajectory optimization method using an analytically solvable contact model to enable planning of interactions with hard, soft, and slippery environments. Specifically, we propose a novel contact…

In this paper, we analyze the effects of contact models on contact-implicit trajectory optimization for manipulation. We consider three different approaches: (1) a contact model that is based on complementarity constraints, (2) a smooth…

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…

The physical interaction of aerial robots with their environment has countless potential applications and is an emerging area with many open challenges. Fully-actuated multirotors have been introduced to tackle some of these challenges.…

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…

A significant barrier preventing model-based methods from achieving real-time and versatile dexterous robotic manipulation is the inherent complexity of multi-contact dynamics. Traditionally formulated as complementarity models,…

Loco-manipulation planning skills are pivotal for expanding the utility of robots in everyday environments. These skills can be assessed based on a system's ability to coordinate complex holistic movements and multiple contact interactions…

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…

Consider the problem of planning collision-free motion of $n$ objects in the plane movable through contact with a robot that can autonomously translate in the plane and that can move a maximum of $m \leq n$ objects simultaneously. This…

Humanoid robots rely on multi-contact planners to navigate a diverse set of environments, including those that are unstructured and highly constrained. To synthesize stable multi-contact plans within a reasonable time frame, most planners…

We begin this paper by presenting our approach to robot manipulation, which emphasizes the benefits of making contact with the world across the entire manipulator. We assume that low contact forces are benign, and focus on the development…