3 papers
cs.RO2026
Safety-Critical Control for Smoothed Implicit Contact Dynamics
Haegu Lee, Yitaek Kim, Christoffer Sloth
Smoothed implicit contact dynamics enables gradient-based planning and control for contact-rich tasks without predefined mode sequences. However, safety-critical control remains ch…
cs.RO2026
Manipulation via Force Distribution at Contact
Haegu Lee, Yitaek Kim, Casper Hewson Rask +1
Efficient and robust trajectories play a crucial role in contact-rich manipulation, which demands accurate mod- eling of object-robot interactions. Many existing approaches rely on…
cs.RO2025
Trajectory Optimization for In-Hand Manipulation with Tactile Force Control
Haegu Lee, Yitaek Kim, Victor Melbye Staven +1
The strength of the human hand lies in its ability to manipulate small objects precisely and robustly. In contrast, simple robotic grippers have low dexterity and fail to handle sm…