Global Planning for Contact-Rich Manipulation via Local Smoothing of Quasi-Dynamic Contact Models
Author:
Affiliation:
1. Computer Science and Artificial Intelligence Laboratory (CSAIL), Massachusetts Institute of Technology, Cambridge, MA, USA
Funder
Amazon PO
Lincoln Laboratory/Air ForcePO
NSF
Ocado Group
Publisher
Institute of Electrical and Electronics Engineers (IEEE)
Subject
Electrical and Electronic Engineering,Computer Science Applications,Control and Systems Engineering
Link
https://ieeexplore.ieee.org/ielam/8860/10352149/10225433-aam.pdf
Reference69 articles.
1. Feedback Control of the Pusher-Slider System: A Story of Hybrid and Underactuated Contact Dynamics
2. Eigen v3;guennebaud,2010
3. Approximate hybrid model predictive control for multi-contact push recovery in complex environments
4. Analytical Derivatives of Rigid Body Dynamics Algorithms
5. A direct method for trajectory optimization of rigid bodies through contact
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