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07/01/2023
Enhancing Dexterity in Robotic Manipulation via Hierarchical Contact Exploration
We present a hierarchical planning framework for dexterous robotic manip...
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12/07/2022
Reacting to Contact: Transparency and Collision Reflex in Actuation
In unstructured environments, robots run the risk of unexpected collisio...
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05/30/2021
Contact Mode Guided Motion Planning for Dexterous Manipulation
Within the field of robotic manipulation, a central goal is to replicate...
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11/10/2020
An Efficient Closed-Form Method for Optimal Hybrid Force-Velocity Control
This paper derives a closed-form method for computing hybrid force-veloc...
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11/03/2020
Contact Mode Guided Sampling-Based Planning for Quasistatic Dexterous Manipulation in 2D
The discontinuities and multi-modality introduced by contacts make manip...
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06/04/2020
Manipulation with Shared Grasping
A shared grasp is a grasp formed by contacts between the manipulated obj...
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12/05/2019
Reorienting Objects in 3D Space Using Pivoting
We consider the problem of reorienting a rigid object with arbitrary kno...
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03/07/2019
Robust Execution of Contact-Rich Motion Plans by Hybrid Force-Velocity Control
In hybrid force-velocity control, the robot can use velocity control in ...
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12/04/2018
Sensorless Pose Determination using Randomized Action Sequences
This paper is a study of 2D manipulation without sensing and planning, b...
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10/02/2017