10 citations · 14 across the 7 of their papers we have counts for
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cs.RO2022
Quasistatic contact-rich manipulation via linear complementarity quadratic programming
Sotaro Katayama, Tatsunori Taniai, Kazutoshi Tanaka
Contact-rich manipulation is challenging due to dynamically-changing physical constraints by the contact mode changes undergone during manipulation. This paper proposes a versatile…
cs.RO2022
Whole-body model predictive control with rigid contacts via online switching time optimization
Sotaro Katayama, Toshiyuki Ohtsuka
This study presents a whole-body model predictive control (MPC) of robotic systems with rigid contacts, under a given contact sequence using online switching time optimization (STO…