In a world designed for legs, quadrupeds, bipeds, and humanoids have the opportunity to
impact emerging robotics applications from logistics, to agriculture, to home assistance. The …

Robot manipulation of multiple objects is an important topic for applications including
warehouse automation, service robots performing cleaning, and large-scale object sorting …

Common methods for learning robot dynamics assume motion is continuous, causing
unrealistic model predictions for systems undergoing discontinuous impact and stiction …

We propose a hybrid model predictive control algorithm, consensus complementarity control
(C3), for systems that make and break contact with their environment. Many state-of-the-art …

A realistic simulation environment is an essential tool in every roboticist's toolkit, with uses
ranging from planning and control to training policies with reinforcement learning. Despite …

We propose a control framework, which can utilize tactile information by exploiting the
complementarity structure of contact dynamics. Since many robotic tasks, like manipulation …

When legged robots impact their environment, they undergo large changes in their velocities
in a small amount of time. Measuring and applying feedback to these velocities is …

State-of-the-art impact dynamics models either apply for free-flying objects or do not account
that a robotic manipulator is commonly high-stiffness controlled. Thus, we lack tailor-made …

While many robotic tasks, like manipulation and locomotion, are fundamentally based in
making and breaking contact with the environment, state-of-the-art control policies struggle …

Frictional contact has been extensively studied as the core underlying behavior of legged
locomotion and manipulation, and its nearly-discontinuous nature makes planning and …