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10/18/2022
Contact-Implicit Planning and Control for Non-Prehensile Manipulation Using State-Triggered Constraints
We present a contact-implicit planning approach that can generate contac...
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06/11/2020
Tuning-Free Contact-Implicit Trajectory Optimization
We present a contact-implicit trajectory optimization framework that can...
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10/24/2018
Contact-Implicit Trajectory Optimization Based on a Variable Smooth Contact Model and Successive Convexification
In this paper, we propose a contact-implicit trajectory optimization (CI...
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07/12/2018
Integrating Risk in Humanoid Robot Control for Applications in the Nuclear Industry
This paper discuss the integration of risk into a robot control framewor...
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07/11/2018
Using Contact to Increase Robot Performance for Glovebox D&D Tasks
Glovebox decommissioning tasks usually require manipulating relatively h...
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06/04/2018