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cs.RO2022
Demonstration-guided Optimal Control for Long-term Non-prehensile Planar Manipulation
Teng Xue, Hakan Girgin, Teguh Santoso Lembono +1
Long-term non-prehensile planar manipulation is a challenging task for robot planning and feedback control. It is characterized by underactuation, hybrid control, and contact uncer…
cs.RO2022
Reactive Anticipatory Robot Skills with Memory
Hakan Girgin, Julius Jankowski, Sylvain Calinon
Optimal control in robotics has been increasingly popular in recent years and has been applied in many applications involving complex dynamical systems. Closed-loop optimal control…