Risk-Aware Motion Planning for a Limbed Robot with Stochastic Gripping
Forces Using Nonlinear Programming

Risk-Aware Motion Planning for a Limbed Robot with Stochastic Gripping Forces Using Nonlinear Programming

4 June 2020

Papers citing "Risk-Aware Motion Planning for a Limbed Robot with Stochastic Gripping Forces Using Nonlinear Programming"

15 / 15 papers shown

Title
Mechanisms and Computational Design of Multi-Modal End-Effector with Force Sensing using Gated Networks Yusuke Tanaka Alvin Zhu Richard Lin Ankur M. Mehta Dennis W. Hong 57 1 0 23 Oct 2024
Evaluating Data-driven Performances of Mixed Integer Bilinear Formulations for Book Placement Planning Xuan Lin Gabriel I. Fernandez Dennis W. Hong 51 0 0 07 Jun 2024
SCALER: Versatile Multi-Limbed Robot for Free-Climbing in Extreme Terrains Yusuke Tanaka Yuki Shirai Alexander Schperberg Xuan Lin Dennis W. Hong 35 1 0 08 Dec 2023
Covariance Steering for Uncertain Contact-rich Systems Yuki Shirai Devesh K. Jha A. Raghunathan 30 12 0 23 Mar 2023
Robust Pivoting Manipulation using Contact Implicit Bilevel Optimization Yuki Shirai Devesh K. Jha A. Raghunathan 35 10 0 15 Mar 2023
Motion Planning for a Climbing Robot with Stochastic Grasps Stephanie Newdick Nitin Ongole Tony G. Chen Edward Schmerling M. Cutkosky Marco Pavone 14 9 0 21 Sep 2022
Benchmark Results for Bookshelf Organization Problem as Mixed Integer Nonlinear Program with Mode Switch and Collision Avoidance Xuan Lin Gabriel I. Fernandez Dennis W. Hong 39 3 0 28 Aug 2022
Simultaneous Contact-Rich Grasping and Locomotion via Distributed Optimization Enabling Free-Climbing for Multi-Limbed Robots Yuki Shirai Xuan Lin Alexander Schperberg Yusuke Tanaka Hayato Kato Varit Vichathorn Dennis W. Hong 32 30 0 04 Jul 2022
SCALER: A Tough Versatile Quadruped Free-Climber Robot Yusuke Tanaka Yuki Shirai Xuan Lin Alexander Schperberg Hayato Kato Alexander Swerdlow Naoya Kumagai Dennis W. Hong 33 25 0 04 Jul 2022
Robust Pivoting: Exploiting Frictional Stability Using Bilevel Optimization Yuki Shirai Devesh K. Jha A. Raghunathan Diego Romeres 19 27 0 22 Mar 2022
Chance-Constrained Optimization in Contact-Rich Systems for Robust Manipulation Yuki Shirai Devesh K. Jha A. Raghunathan Diego Romeres 33 14 0 05 Mar 2022
An Under-Actuated Whippletree Mechanism Gripper based on Multi-Objective Design Optimization with Auto-Tuned Weights Yusuke Tanaka Yuki Shirai Zachary Lacey Xuan Lin Jane Liu Dennis W. Hong 29 8 0 30 Sep 2021
SABER: Data-Driven Motion Planner for Autonomously Navigating Heterogeneous Robots Alexander Schperberg Stephanie Tsuei Stefano Soatto Dennis W. Hong 17 10 0 03 Aug 2021
Mediating between Contact Feasibility and Robustness of Trajectory Optimization through Chance Complementarity Constraints Luke Drnach John Z. Zhang Ye Zhao 26 7 0 20 May 2021
LTO: Lazy Trajectory Optimization with Graph-Search Planning for High DOF Robots in Cluttered Environments Yuki Shirai Xuan Lin Ankur M. Mehta Dennis W. Hong 30 1 0 01 Mar 2021