Robust Pivoting Manipulation using Contact Implicit Bilevel Optimization

no code implementations • 15 Mar 2023 • Yuki Shirai, Devesh K. Jha, Arvind U. Raghunathan

This requirement makes manipulation extremely challenging as a robot has to reason about complex frictional interactions with uncertainty in physical properties of the object and the environment.

Bilevel Optimization Friction

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

no code implementations • 4 Jul 2022 • Yuki Shirai, Xuan Lin, Alexander Schperberg, Yusuke Tanaka, Hayato Kato, Varit Vichathorn, Dennis Hong

While motion planning of locomotion for legged robots has shown great success, motion planning for legged robots with dexterous multi-finger grasping is not mature yet.

Distributed Optimization Motion Planning

Robust Pivoting: Exploiting Frictional Stability Using Bilevel Optimization

no code implementations • 22 Mar 2022 • Yuki Shirai, Devesh K. Jha, Arvind Raghunathan, Diego Romeres

Generalizable manipulation requires that robots be able to interact with novel objects and environment.

Bilevel Optimization Friction

Chance-Constrained Optimization in Contact-Rich Systems for Robust Manipulation

no code implementations • 5 Mar 2022 • Yuki Shirai, Devesh K. Jha, Arvind Raghunathan, Diego Romeres

In our formulation, we explicitly consider joint chance constraints for complementarity as well as states to capture the stochastic evolution of dynamics.