3 papers
cs.RO2025
Hierarchical Contact-Rich Trajectory Optimization for Multi-Modal Manipulation using Tight Convex Relaxations
Yuki Shirai, Arvind Raghunathan, Devesh K. Jha
Designing trajectories for manipulation through contact is challenging as it requires reasoning of object \& robot trajectories as well as complex contact sequences simultaneously.…
cs.RO2024
Simultaneous Trajectory Optimization and Contact Selection for Contact-rich Manipulation with High-Fidelity Geometry
Mengchao Zhang, Devesh K. Jha, Arvind U. Raghunathan +1
Contact-implicit trajectory optimization (CITO) is an effective method to plan complex trajectories for various contact-rich systems including manipulation and locomotion. CITO for…
cs.RO2024
Robust Pivoting Manipulation using Contact Implicit Bilevel Optimization
Yuki Shirai, Devesh K. Jha, Arvind U. Raghunathan
Generalizable manipulation requires that robots be able to interact with novel objects and environment. This requirement makes manipulation extremely challenging as a robot has to…