29 citations · 36 across the 2 of their papers we have counts for
2 papers
cs.RO2022★ 7 cited
Chance-Constrained Optimization in Contact-Rich Systems for Robust Manipulation
Yuki Shirai, Devesh K. Jha, Arvind Raghunathan +1
This paper presents a chance-constrained formulation for robust trajectory optimization during manipulation. In particular, we present a chance-constrained optimization for Stochas…
cs.RO2020★ 29 cited
Risk-Aware Motion Planning for a Limbed Robot with Stochastic Gripping Forces Using Nonlinear Programming
Yuki Shirai, Xuan Lin, Yusuke Tanaka +2
We present a motion planning algorithm with probabilistic guarantees for limbed robots with stochastic gripping forces. Planners based on deterministic models with a worst-case unc…