Contact adaptation is an essential capability when manipulating objects. Two key contact
modes of non-prehensile manipulation are sticking and sliding. This paper presents a …

Task and Motion Planning has made great progress in solving hard sequential manipulation
problems. However, a gap between such planning formulations and control methods for …

With the aim of further enabling the exploitation of intentional impacts in robotic
manipulation, a control framework is presented that directly tackles the challenges posed by …

This article investigates one of the most challenging tasks in dynamic manipulation—
catching large-momentum moving objects. Beyond the realm of quasi-static manipulation …

With the aim of further enabling the exploitation of impacts in robotic manipulation, a control
framework is presented that directly tackles the challenges posed by tracking control of …

We present a contact-implicit planning approach that can generate contact-interaction
trajectories for non-prehensile manipulation problems without tuning or a tailored initial …

To achieve highly dynamic jumps with legged robots, it is essential to control the rotational
dynamics of the robot. In this paper, we aim to improve the jumping performance by …

This letter proposes a decoupled two-level model-based planning strategy and control for a
class of robotic tasks involving impact to be made with desired performance and constraints …

Predicting the post-impact velocity for torque-controlled flexible-joint robots enhances impact-
aware control schemes which exploit intentional collisions for achieving dynamic robotic …

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 …