Global Planning for Contact-Rich Manipulation via Local Smoothing of Quasi-Dynamic Contact Models

Author:

Pang Tao1ORCID,Suh H. J. Terry1ORCID,Yang Lujie1ORCID,Tedrake Russ1ORCID

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

Cited by 9 articles. 订阅此论文施引文献 订阅此论文施引文献,注册后可以免费订阅5篇论文的施引文献,订阅后可以查看论文全部施引文献

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2. Differentiable Compliant Contact Primitives for Estimation and Model Predictive Control;2024 IEEE International Conference on Robotics and Automation (ICRA);2024-05-13

3. Sequential Trajectory Optimization for Externally-Actuated Modular Manipulators with Joint Locking;2024 IEEE International Conference on Robotics and Automation (ICRA);2024-05-13

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