2 papers
cs.RO2025
Scaling Whole-body Multi-contact Manipulation with Contact Optimization
Victor Levé, João Moura, Sachiya Fujita +3
Daily tasks require us to use our whole body to manipulate objects, for instance when our hands are unavailable. We consider the issue of providing humanoid robots with the ability…
cs.RO2024
Explicit Contact Optimization in Whole-Body Contact-Rich Manipulation
Victor Leve, João Moura, Namiko Saito +2
Humans can exploit contacts anywhere on their body surface to manipulate large and heavy items, objects normally out of reach or multiple objects at once. However, such manipulatio…