3 papers
cs.RO2023
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…
cs.RO2023
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…
cs.RO2023
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…