81 citations · 166 across the 22 of their papers we have counts for
7 papers · 1 filter
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…
Geometric Algebra for Optimal Control with Applications in Manipulation Tasks
Tobias Löw, Sylvain Calinon
Many problems in robotics are fundamentally problems of geometry, which lead to an increased research effort in geometric methods for robotics in recent years. The results were alg…
VP-STO: Via-point-based Stochastic Trajectory Optimization for Reactive Robot Behavior
Julius Jankowski, Lara Brudermüller, Nick Hawes +1
Achieving reactive robot behavior in complex dynamic environments is still challenging as it relies on being able to solve trajectory optimization problems quickly enough, such tha…
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…
Tensor Train for Global Optimization Problems in Robotics
Suhan Shetty, Teguh Lembono, Tobias Loew +1
The convergence of many numerical optimization techniques is highly dependent on the initial guess given to the solver. To address this issue, we propose a novel approach that util…
Robot Cooking with Stir-fry: Bimanual Non-prehensile Manipulation of Semi-fluid Objects
Junjia Liu, Yiting Chen, Zhipeng Dong +4
This letter describes an approach to achieve well-known Chinese cooking art stir-fry on a bimanual robot system. Stir-fry requires a sequence of highly dynamic coordinated movement…