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03/23/2023
Covariance Steering for Uncertain Contact-rich Systems
Planning and control for uncertain contact systems is challenging as it ...
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03/15/2023
Robust Pivoting Manipulation using Contact Implicit Bilevel Optimization
Generalizable manipulation requires that robots be able to interact with...
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01/17/2023
Tactile Tool Manipulation
Humans can effortlessly perform very complex, dexterous manipulation tas...
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07/31/2022
Multi-Modal Multi-Agent Optimization for LIMMS, A Modular Robotics Approach to Delivery Automation
In this paper we present a motion planner for LIMMS, a modular multi-age...
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07/04/2022
Simultaneous Contact-Rich Grasping and Locomotion via Distributed Optimization Enabling Free-Climbing for Multi-Limbed Robots
While motion planning of locomotion for legged robots has shown great su...
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07/04/2022
SCALER: A Tough Versatile Quadruped Free-Climber Robot
This paper introduces SCALER, a quadrupedal robot that demonstrates clim...
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07/03/2022
Auto-Calibrating Admittance Controller for Robust Motion of Robotic Systems
We demonstrate an admittance controller with auto-tuning that can be app...
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03/22/2022
Robust Pivoting: Exploiting Frictional Stability Using Bilevel Optimization
Generalizable manipulation requires that robots be able to interact with...
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03/05/2022
Chance-Constrained Optimization in Contact-Rich Systems for Robust Manipulation
This paper presents a chance-constrained formulation for robust trajecto...
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09/30/2021
An Under-Actuated Whippletree Mechanism Gripper based on Multi-Objective Design Optimization with Auto-Tuned Weights
Current rigid linkage grippers are limited in flexibility, and gripper d...
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03/01/2021
LTO: Lazy Trajectory Optimization with Graph-Search Planning for High DOF Robots in Cluttered Environments
Although Trajectory Optimization (TO) is one of the most powerful motion...
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06/04/2020
