Simultaneous Contact-Rich Grasping and Locomotion via Distributed Optimization Enabling Free-Climbing for Multi-Limbed Robots

4 July 2022

Papers citing "Simultaneous Contact-Rich Grasping and Locomotion via Distributed Optimization Enabling Free-Climbing for Multi-Limbed Robots"

23 / 23 papers shown

Title
Hierarchical Contact-Rich Trajectory Optimization for Multi-Modal Manipulation using Tight Convex Relaxations Yuki Shirai A. Raghunathan Devesh K. Jha 51 1 0 11 Mar 2025
Is Linear Feedback on Smoothed Dynamics Sufficient for Stabilizing Contact-Rich Plans? Yuki Shirai Tong Zhao H. Suh Huaijiang Zhu Xinpei Ni Jiuguang Wang Max Simchowitz Tao Pang 47 3 0 10 Nov 2024
Mechanisms and Computational Design of Multi-Modal End-Effector with Force Sensing using Gated Networks Yusuke Tanaka Alvin Zhu Richard Lin Ankur M. Mehta Dennis W. Hong 40 1 0 23 Oct 2024
Cycloidal Quasi-Direct Drive Actuator Designs with Learning-based Torque Estimation for Legged Robotics Alvin Zhu Yusuke Tanaka Fadi Rafeedi Dennis W. Hong 31 1 0 22 Oct 2024
Evaluating Data-driven Performances of Mixed Integer Bilinear Formulations for Book Placement Planning Xuan Lin Gabriel I. Fernandez Dennis W. Hong 30 0 0 07 Jun 2024
A Survey of Optimization-based Task and Motion Planning: From Classical To Learning Approaches Zhigen Zhao Shuo Cheng Yan Ding Ziyi Zhou Shiqi Zhang Danfei Xu Ye Zhao 33 21 0 03 Apr 2024
An Optimal Control Formulation of Tool Affordance Applied to Impact Tasks Boyang Ti Yongsheng Gao Jie Zhao Sylvain Calinon 13 2 0 08 Feb 2024
Fast and Continual Learning for Hybrid Control Policies using Generalized Benders Decomposition Xuan Lin 11 0 0 01 Jan 2024
Task Planning for Multiple Item Insertion using ADMM Gavin Zheng 6 0 0 20 Dec 2023
SCALER: Versatile Multi-Limbed Robot for Free-Climbing in Extreme Terrains Yusuke Tanaka Yuki Shirai Alexander Schperberg Xuan Lin Dennis W. Hong 13 1 0 08 Dec 2023
Consensus Complementarity Control for Multi-Contact MPC Alp Aydinoglu Adam Wei Wei-Cheng Huang Michael Posa 16 22 0 21 Apr 2023
Covariance Steering for Uncertain Contact-rich Systems Yuki Shirai Devesh K. Jha A. Raghunathan 15 12 0 23 Mar 2023
Robust Pivoting Manipulation using Contact Implicit Bilevel Optimization Yuki Shirai Devesh K. Jha A. Raghunathan 11 10 0 15 Mar 2023
Tactile Tool Manipulation Yuki Shirai Devesh K. Jha A. Raghunathan Dennis W. Hong 8 18 0 17 Jan 2023
Real-Time Deformable-Contact-Aware Model Predictive Control for Force-Modulated Manipulation Lasitha Wijayarathne Ziyi Zhou Ye Zhao Frank L. Hammond 11 10 0 19 Dec 2022
Benchmark Results for Bookshelf Organization Problem as Mixed Integer Nonlinear Program with Mode Switch and Collision Avoidance Xuan Lin Gabriel I. Fernandez Dennis W. Hong 12 3 0 28 Aug 2022
Multi-Modal Multi-Agent Optimization for LIMMS, A Modular Robotics Approach to Delivery Automation Xuan Lin Gabriel I. Fernandez Yeting Liu Taoyuanmin Zhu Yuki Shirai Dennis W. Hong 11 4 0 31 Jul 2022
Learning Near-global-optimal Strategies for Hybrid Non-convex Model Predictive Control of Single Rigid Body Locomotion Xuan Lin Feng Xu Alexander Schperberg Dennis W. Hong 11 3 0 16 Jul 2022
SCALER: A Tough Versatile Quadruped Free-Climber Robot Yusuke Tanaka Yuki Shirai Xuan Lin Alexander Schperberg Hayato Kato Alexander Swerdlow Naoya Kumagai Dennis W. Hong 14 25 0 04 Jul 2022
Adaptive Force Controller for Contact-Rich Robotic Systems using an Unscented Kalman Filter Alexander Schperberg Yuki Shirai Xuan Lin Yusuke Tanaka Dennis W. Hong 14 4 0 03 Jul 2022
Contact-timing and Trajectory Optimization for 3D Jumping on Quadruped Robots Chuong H. Nguyen Quan Nguyen 33 33 0 13 Oct 2021
An Under-Actuated Whippletree Mechanism Gripper based on Multi-Objective Design Optimization with Auto-Tuned Weights Yusuke Tanaka Yuki Shirai Zachary Lacey Xuan Lin Jane Liu Dennis W. Hong 27 8 0 30 Sep 2021
Real-Time Multi-Contact Model Predictive Control via ADMM Alp Aydinoglu Michael Posa 33 43 0 15 Sep 2021