29 citations · 104 across the 10 of their papers we have counts for
10 papers
Covariance Steering for Uncertain Contact-rich Systems
Yuki Shirai, Devesh K. Jha, Arvind U. Raghunathan
Planning and control for uncertain contact systems is challenging as it is not clear how to propagate uncertainty for planning. Contact-rich tasks can be modeled efficiently using…
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…
SCALER: A Tough Versatile Quadruped Free-Climber Robot
Yusuke Tanaka, Yuki Shirai, Xuan Lin +5
This paper introduces SCALER, a quadrupedal robot that demonstrates climbing on bouldering walls, overhangs, ceilings and trotting on the ground. SCALER is one of the first high-de…
Simultaneous Contact-Rich Grasping and Locomotion via Distributed Optimization Enabling Free-Climbing for Multi-Limbed Robots
Yuki Shirai, Xuan Lin, Alexander Schperberg +4
While motion planning of locomotion for legged robots has shown great success, motion planning for legged robots with dexterous multi-finger grasping is not mature yet. We present…
Adaptive Force Controller for Contact-Rich Robotic Systems using an Unscented Kalman Filter
Alexander Schperberg, Yuki Shirai, Xuan Lin +2
In multi-point contact systems, precise force control is crucial for achieving stable and safe interactions between robots and their environment. Thus, we demonstrate an admittance…
Robust Pivoting: Exploiting Frictional Stability Using Bilevel Optimization
Yuki Shirai, Devesh K. Jha, Arvind Raghunathan +1
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…
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…
An Under-Actuated Whippletree Mechanism Gripper based on Multi-Objective Design Optimization with Auto-Tuned Weights
Yusuke Tanaka, Yuki Shirai, Zachary Lacey +3
Current rigid linkage grippers are limited in flexibility, and gripper design optimality relies on expertise, experiments, or arbitrary parameters. Our proposed rigid gripper can a…
LTO: Lazy Trajectory Optimization with Graph-Search Planning for High DOF Robots in Cluttered Environments
Yuki Shirai, Xuan Lin, Ankur Mehta +1
Although Trajectory Optimization (TO) is one of the most powerful motion planning tools, it suffers from expensive computational complexity as a time horizon increases in cluttered…
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…