48 citations · 426 across the 46 of their papers we have counts for
10 papers · 1 filter
Fundamental Limitations in Performance and Interpretability of Common Planar Rigid-Body Contact Models
Nima Fazeli, Samuel Zapolsky, Evan Drumwright +1
The ability to reason about and predict the outcome of contacts is paramount to the successful execution of many robot tasks. Analytical rigid-body contact models are used extensiv…
Learning Data-Efficient Rigid-Body Contact Models: Case Study of Planar Impact
Nima Fazeli, Samuel Zapolsky, Evan Drumwright +1
In this paper we demonstrate the limitations of common rigid-body contact models used in the robotics community by comparing them to a collection of data-driven and data-reinforced…
Stable Prehensile Pushing: In-Hand Manipulation with Alternating Sticking Contacts
Nikhil Chavan-Dafle, Alberto Rodriguez
This paper presents an approach to in-hand manipulation planning that exploits the mechanics of alternating sticking contact. Particularly, we consider the problem of manipulating…
Reactive Planar Manipulation with Convex Hybrid MPC
Francois Robert Hogan, Eudald Romo Grau, Alberto Rodriguez
This paper presents a reactive controller for planar manipulation tasks that leverages machine learning to achieve real-time performance. The approach is based on a Model Predictiv…
Robotic Pick-and-Place of Novel Objects in Clutter with Multi-Affordance Grasping and Cross-Domain Image Matching
Andy Zeng, Shuran Song, Kuan-Ting Yu +18
This paper presents a robotic pick-and-place system that is capable of grasping and recognizing both known and novel objects in cluttered environments. The key new feature of the s…
Realtime State Estimation with Tactile and Visual sensing. Application to Planar Manipulation
Kuan-Ting Yu, Alberto Rodriguez
Accurate and robust object state estimation enables successful object manipulation. Visual sensing is widely used to estimate object poses. However, in a cluttered scene or in a ti…