Consensus complementarity control for multi-contact mpc
We propose a hybrid model predictive control algorithm, consensus complementarity
control, for systems that make and break contact with their environment. Many state-of-the …
control, for systems that make and break contact with their environment. Many state-of-the …
Bundled gradients through contact via randomized smoothing
The empirical success of derivative-free methods in reinforcement learning for planning
through contact seems at odds with the perceived fragility of classical gradient-based …
through contact seems at odds with the perceived fragility of classical gradient-based …
Trajectotree: Trajectory optimization meets tree search for planning multi-contact dexterous manipulation
Dexterous manipulation tasks often require contact switching, where fingers make and break
contact with the object. We propose a method that plans trajectories for dexterous …
contact with the object. We propose a method that plans trajectories for dexterous …
Inverse dynamics trajectory optimization for contact-implicit model predictive control
Robots must make and break contact with the environment to perform useful tasks, but
planning and control through contact remains a formidable challenge. In this work, we …
planning and control through contact remains a formidable challenge. In this work, we …
Non-prehensile planar manipulation via trajectory optimization with complementarity constraints
J Moura, T Stouraitis… - … Conference on Robotics …, 2022 - ieeexplore.ieee.org
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 …
modes of non-prehensile manipulation are sticking and sliding. This paper presents a …
Contact-implicit mpc: Controlling diverse quadruped motions without pre-planned contact modes or trajectories
This paper presents a contact-implicit model predictive control (MPC) framework for the real-
time discovery of multi-contact motions, without predefined contact mode sequences or …
time discovery of multi-contact motions, without predefined contact mode sequences or …
Contact-implicit Model Predictive Control: Controlling diverse quadruped motions without pre-planned contact modes or trajectories
This paper presents a contact-implicit model predictive control (MPC) framework for the real-
time discovery of multi-contact motions, without predefined contact mode sequences or …
time discovery of multi-contact motions, without predefined contact mode sequences or …
Contact-implicit trajectory optimization using an analytically solvable contact model for locomotion on variable ground
This letter presents a novel contact-implicit trajectory optimization method using an
analytically solvable contact model to enable planning of interactions with hard, soft, and …
analytically solvable contact model to enable planning of interactions with hard, soft, and …
Real-time deformable-contact-aware model predictive control for force-modulated manipulation
The 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 …
decades. However, it is not yet commonly used in safety-critical applications due to a lack of …
Affordance-based mobile robot navigation among movable obstacles
Avoiding obstacles in the perceived world has been the classical approach to autonomous
mobile robot navigation. However, this usually leads to unnatural and inefficient motions that …
mobile robot navigation. However, this usually leads to unnatural and inefficient motions that …