TR2023-024

Covariance Steering for Uncertain Contact-Rich Systems


Abstract:

Planning and control for uncertain contact sys- tems is challenging as it is not clear how to propagate uncertainty for planning. Contact-rich tasks can be modeled efficiently using complementarity constraints among other tech- niques. In this paper, we present a stochastic optimization technique with chance constraints for systems with stochastic complementarity constraints. We use a particle filter-based approach to propagate moments for stochastic complementarity system. To circumvent the issues of open-loop chance con- strained planning, we propose a contact-aware controller for covariance steering of the complementarity system. Our opti- mization problem is formulated as Non-Linear Programming (NLP) using bilevel optimization. We present an important- particle algorithm for numerical efficiency for the underlying control problem. We verify that our contact-aware closed-loop controller is able to steer the covariance of the states under stochastic contact-rich tasks.

 

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  •  Shirai, Y., Jha, D.K., Raghunathan, A., "Contact-Aware Covariance Control of Stochastic Contact-Rich Systems", IROS 2023 Workshop on Leveraging Models for Contact-Rich Manipulation, September 2023.
    BibTeX TR2023-120 PDF
    • @inproceedings{Shirai2023sep,
    • author = {Shirai, Yuki and Jha, Devesh K. and Raghunathan, Arvind},
    • title = {Contact-Aware Covariance Control of Stochastic Contact-Rich Systems},
    • booktitle = {IROS 2023 Workshop on Leveraging Models for Contact-Rich Manipulation},
    • year = 2023,
    • month = sep,
    • url = {https://www.merl.com/publications/TR2023-120}
    • }
  •  Shirai, Y., Jha, D.K., Raghunathan, A., "Covariance Steering for Uncertain Contact-rich Systems", arXiv, March 2023.
    BibTeX arXiv
    • @article{Shirai2023mar2,
    • author = {Shirai, Yuki and Jha, Devesh K. and Raghunathan, Arvind},
    • title = {Covariance Steering for Uncertain Contact-rich Systems},
    • journal = {arXiv},
    • year = 2023,
    • month = mar,
    • url = {https://arxiv.org/abs/2303.13382}
    • }