48 citations · 426 across the 46 of their papers we have counts for
10 papers · 1 filter
Accurate Vision-based Manipulation through Contact Reasoning
Alina Kloss, Maria Bauza, Jiajun Wu +3
Planning contact interactions is one of the core challenges of many robotic tasks. Optimizing contact locations while taking dynamics into account is computationally costly and, in…
Hybrid Differential Dynamic Programming for Planar Manipulation Primitives
Neel Doshi, Francois R. Hogan, Alberto Rodriguez
We present a hybrid differential dynamic programming (DDP) algorithm for closed-loop execution of manipulation primitives with frictional contact switches. Planning and control of…
Cable Manipulation with a Tactile-Reactive Gripper
Yu She, Shaoxiong Wang, Siyuan Dong +3
Cables are complex, high dimensional, and dynamic objects. Standard approaches to manipulate them often rely on conservative strategies that involve long series of very slow and in…
Omnipush: accurate, diverse, real-world dataset of pushing dynamics with RGB-D video
Maria Bauza, Ferran Alet, Yen-Chen Lin +4
Pushing is a fundamental robotic skill. Existing work has shown how to exploit models of pushing to achieve a variety of tasks, including grasping under uncertainty, in-hand manipu…
Tactile-Based Insertion for Dense Box-Packing
Siyuan Dong, Alberto Rodriguez
We study the problem of using high-resolution tactile sensors to control the insertion of objects in a box-packing scenario. We propose a new system based on a tactile sensor GelSl…
Certified Grasping
Bernardo Aceituno-Cabezas, José Ballester, Alberto Rodriguez
This paper studies robustness in planar grasping from a geometric perspective. By treating grasping as a process that shapes the free-space of an object over time, we can define th…