30 citations · 50 across the 5 of their papers we have counts for
4 papers · 1 filter
Contact-Implicit Trajectory Optimization Based on a Variable Smooth Contact Model and Successive Convexification
Aykut Ozgun Onol, Philip Long, Taskin Padir
In this paper, we propose a contact-implicit trajectory optimization (CITO) method based on a variable smooth contact model (VSCM) and successive convexification (SCvx). The VSCM f…
A Comparative Analysis of Contact Models in Trajectory Optimization for Manipulation
Aykut Ozgun Onol, Philip Long, Taskin Padir
In this paper, we analyze the effects of contact models on contact-implicit trajectory optimization for manipulation. We consider three different approaches: (1) a contact model th…
Integrating Risk in Humanoid Robot Control for Applications in the Nuclear Industry
Xianchao Long, Philip Long, Aykut Onol +1
This paper discuss the integration of risk into a robot control framework for decommissioning applications in the nuclear industry. Our overall objective is to allow the robot to e…
Using Contact to Increase Robot Performance for Glovebox D&D Tasks
Aykut Onol, Philip Long, Taskin Padir
Glovebox decommissioning tasks usually require manipulating relatively heavy objects in a highly constrained environment. Thus, contact with the surroundings becomes inevitable. In…