34 citations · 88 across the 12 of their papers we have counts for
13 papers
Enhancing Dexterity in Robotic Manipulation via Hierarchical Contact Exploration
Xianyi Cheng, Sarvesh Patil, Zeynep Temel +2
Planning robot dexterity is challenging due to the non-smoothness introduced by contacts, intricate fine motions, and ever-changing scenarios. We present a hierarchical planning fr…
Reacting to Contact: Transparency and Collision Reflex in Actuation
Ankit Bhatia, Matthew T. Mason, Aaron M. Johnson
In unstructured environments, robots run the risk of unexpected collisions. How well they react to these events is determined by how transparent they are to collisions. Transparenc…
Contact Mode Guided Motion Planning for Quasidynamic Dexterous Manipulation in 3D
Xianyi Cheng, Eric Huang, Yifan Hou +1
This paper presents Contact Mode Guided Manipulation Planning (CMGMP) for 3D quasistatic and quasidynamic rigid body motion planning in dexterous manipulation. The CMGMP algorithm…
An Efficient Closed-Form Method for Optimal Hybrid Force-Velocity Control
Yifan Hou, Matthew T. Mason
This paper derives a closed-form method for computing hybrid force-velocity control. The key idea is to maximize the kinematic conditioning of the mechanical system, which includes…
Contact Mode Guided Sampling-Based Planning for Quasistatic Dexterous Manipulation in 2D
Xianyi Cheng, Eric Huang, Yifan Hou +1
The discontinuities and multi-modality introduced by contacts make manipulation planning challenging. Many previous works avoid this problem by pre-designing a set of high-level mo…
Manipulation with Shared Grasping
Yifan Hou, Zhenzhong Jia, Matthew T. Mason
A shared grasp is a grasp formed by contacts between the manipulated object and both the robot hand and the environment. By trading off hand contacts for environmental contacts, a…
Reorienting Objects in 3D Space Using Pivoting
Yifan Hou, Zhenzhong Jia, Matthew T. Mason
We consider the problem of reorienting a rigid object with arbitrary known shape on a table using a two-finger pinch gripper. Reorienting problem is challenging because of its non-…
Robust Execution of Contact-Rich Motion Plans by Hybrid Force-Velocity Control
Yifan Hou, Matthew T. Mason
In hybrid force-velocity control, the robot can use velocity control in some directions to follow a trajectory, while performing force control in other directions to maintain conta…
Sensorless Pose Determination using Randomized Action Sequences
Pragna Mannam, Alexander Volkov, Robert Paolini +2
This paper is a study of 2D manipulation without sensing and planning, by exploring the effects of unplanned randomized action sequences on 2D object pose uncertainty. Our approach…
Unsupervised Learning for Nonlinear PieceWise Smooth Hybrid Systems
Gilwoo Lee, Zita Marinho, Aaron M. Johnson +3
This paper introduces a novel system identification and tracking method for PieceWise Smooth (PWS) nonlinear stochastic hybrid systems. We are able to correctly identify and track…
A Fast Stochastic Contact Model for Planar Pushing and Grasping: Theory and Experimental Validation
Jiaji Zhou, J. Andrew Bagnell, Matthew T. Mason
Based on the convex force-motion polynomial model for quasi-static sliding, we derive the kinematic contact model to determine the contact modes and instantaneous object motion on…
GP-ILQG: Data-driven Robust Optimal Control for Uncertain Nonlinear Dynamical Systems
Gilwoo Lee, Siddhartha S. Srinivasa, Matthew T. Mason
As we aim to control complex systems, use of a simulator in model-based reinforcement learning is becoming more common. However, it has been challenging to overcome the Reality Gap…
A Convex Polynomial Force-Motion Model for Planar Sliding: Identification and Application
Jiaji Zhou, Robert Paolini, J. Andrew Bagnell +1
We propose a polynomial force-motion model for planar sliding. The set of generalized friction loads is the 1-sublevel set of a polynomial whose gradient directions correspond to g…