Simultaneous Contact-Rich Grasping and Locomotion via Distributed
Optimization Enabling Free-Climbing for Multi-Limbed Robots

v1v2 (latest)

Simultaneous Contact-Rich Grasping and Locomotion via Distributed Optimization Enabling Free-Climbing for Multi-Limbed Robots

4 July 2022

Alexander Schperberg

Varit Vichathorn

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Papers citing "Simultaneous Contact-Rich Grasping and Locomotion via Distributed Optimization Enabling Free-Climbing for Multi-Limbed Robots"

13 / 13 papers shown

Title
Humanoid Loco-manipulation Planning based on Graph Search and Reachability Maps Masaki Murooka Iori Kumagai Mitsuharu Morisawa F. Kanehiro A. Kheddar 45 27 0 29 May 2025
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 168 1 0 23 Oct 2024
Cycloidal Quasi-Direct Drive Actuator Designs with Learning-based Torque Estimation for Legged Robotics Alvin Zhu Yusuke Tanaka Fadi Rafeedi Dennis W. Hong 148 1 0 22 Oct 2024
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 63 25 0 04 Jul 2022
Robust Pivoting: Exploiting Frictional Stability Using Bilevel Optimization Yuki Shirai Devesh K. Jha A. Raghunathan Diego Romeres 43 27 0 22 Mar 2022
Chance-Constrained Optimization in Contact-Rich Systems for Robust Manipulation Yuki Shirai Devesh K. Jha A. Raghunathan Diego Romeres 72 15 0 05 Mar 2022
Contact-timing and Trajectory Optimization for 3D Jumping on Quadruped Robots Chuong H. Nguyen Quan Nguyen 93 34 0 13 Oct 2021
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 53 8 0 30 Sep 2021
Real-Time Multi-Contact Model Predictive Control via ADMM Alp Aydinoglu Michael Posa 89 45 0 15 Sep 2021
PYROBOCOP : Python-based Robotic Control & Optimization Package for Manipulation and Collision Avoidance A. Raghunathan Devesh K. Jha Diego Romeres 77 26 0 06 Jun 2021
Risk-Aware Motion Planning for a Limbed Robot with Stochastic Gripping Forces Using Nonlinear Programming Yuki Shirai Xuan Lin Yusuke Tanaka Ankur M. Mehta Dennis W. Hong 97 22 0 04 Jun 2020
Accelerated ADMM based Trajectory Optimization for Legged Locomotion with Coupled Rigid Body Dynamics Ziyi Zhou Ye Zhao 108 23 0 18 Mar 2020
Simultaneous Contact, Gait and Motion Planning for Robust Multi-Legged Locomotion via Mixed-Integer Convex Optimization Bernardo Aceituno-Cabezas Carlos Mastalli Hongkai Dai Michele Focchi A. Radulescu Darwin G. Caldwell J. Cappelletto J. Grieco Gerardo Fernández-López Claudio Semini 78 151 0 09 Apr 2019

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