41 citations · 109 across the 16 of their papers we have counts for
5 papers · 1 filter
Combining Sampling- and Gradient-based Planning for Contact-rich Manipulation
Filippo Rozzi, Loris Roveda, Kevin Haninger
Planning over discontinuous dynamics is needed for robotics tasks like contact-rich manipulation, which presents challenges in the numerical stability and speed of planning methods…
High-speed electrical connector assembly by structured compliance in a finray-effect gripper
Richard Hartisch, Kevin Haninger
Fine assembly tasks such as electrical connector insertion have tight tolerances and sensitive components, requiring compensation of alignment errors while applying sufficient forc…
Teaching contact-rich tasks from visual demonstrations by constraint extraction
Christian Hegeler, Filippo Rozzi, Loris Roveda +1
Contact-rich manipulation involves kinematic constraints on the task motion, typically with discrete transitions between these constraints during the task. Allowing the robot to de…
Differentiable Compliant Contact Primitives for Estimation and Model Predictive Control
Kevin Haninger, Kangwagye Samuel, Filippo Rozzi +2
Control techniques like MPC can realize contact-rich manipulation which exploits dynamic information, maintaining friction limits and safety constraints. However, contact geometry…
Compliant finray-effect gripper for high-speed robotic assembly of electrical components
Richard Matthias Hartisch, Kevin Haninger
Fine assembly tasks such as electrical connector insertion have tight tolerances and sensitive components, limiting the speed and robustness of robot assembly, even when using visi…