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cs.RO2026
Push, Press, Slide: Mode-Aware Planar Contact Manipulation via Reduced-Order Models
Melih Özcan, Umut Orguner, Ozgur S. Oguz
Non-prehensile planar manipulation, including pushing and press-and-slide, is critical for diverse robotic tasks, but notoriously challenging due to hybrid contact mechanics, under…
cs.RO2025
An Optimization-Augmented Control Framework for Single and Coordinated Multi-Arm Robotic Manipulation
Melih Özcan, Ozgur S. Oguz
Robotic manipulation demands precise control over both contact forces and motion trajectories. While force control is essential for achieving compliant interaction and high-frequen…