11 papers · 1 filter
Exact Signed-Distance Control Barrier Functions via Minkowski Operations for Safe Navigation among Polytopes
Yi-Hsuan Chen, Shuo Liu, Wei Xiao +2
Safely navigating polytopic environments while respecting the dynamics, control, and exact geometry of the underlying system is a challenge in robotics. Control barrier functions (…
Grasp Execution Without a Planner: Configuration-Space Grasp Distance Fields with Certified Safety & Guaranteed Quality
Clinton Enwerem, John S. Baras, Calin Belta
Mainstream plan-then-track approaches to multifingered grasp execution entail selecting a grasp, planning a collision-free trajectory, and tracking the resulting trajectory via a f…
FIRMGrasp: A Friction-Informed Risk Margin for Robust Grasp Synthesis
Clinton Enwerem, John S. Baras, Calin Belta
Classical grasp quality metrics assume one deterministic friction coefficient and therefore cannot assess whether a grasp maintains force closure across plausible friction values.…
Iterative Convex Optimization with Control Barrier Functions for Obstacle Avoidance among Polytopes
Shuo Liu, Zhe Huang, Calin A. Belta
Obstacle avoidance of polytopic obstacles by polytopic robots is a challenging problem in optimization-based control and trajectory planning. Many existing methods rely on smooth g…
EquiDexFlow: Contact-Grounded SE(3)-Equivariant Dexterous Grasp Generative Flows
Clinton Enwerem, John S. Baras, Calin Belta
Most learned dexterous grasp generators relegate contact forces to a downstream verification step, so a kinematically-plausible pose can still violate the conditions for a stable p…
Variational Neural Belief Parameterizations for Robust Dexterous Grasping under Multimodal Uncertainty
Clinton Enwerem, Shreya Kalyanaraman, John S. Baras +1
Contact variability, sensing uncertainty, and external disturbances make grasp execution stochastic. Expected-quality objectives ignore tail outcomes and often select grasps that f…