TR2023-044
STOCS: Simultaneous Trajectory Optimization and Contact Selection for Contact-Rich Manipulation
-
- "STOCS: Simultaneous Trajectory Optimization and Contact Selection for Contact-Rich Manipulation", ICRA 2023 Workshop on Embracing contacts. Making robots physically interact with our world, May 2023.BibTeX TR2023-044 PDF
- @inproceedings{Zhang2023may3,
- author = {Zhang, Mengchao and Jha, Devesh K. and Raghunathan, Arvind and Hauser, Kris},
- title = {STOCS: Simultaneous Trajectory Optimization and Contact Selection for Contact-Rich Manipulation},
- booktitle = {ICRA 2023 Workshop on Embracing contacts. Making robots physically interact with our world},
- year = 2023,
- month = may,
- url = {https://www.merl.com/publications/TR2023-044}
- }
,
- "STOCS: Simultaneous Trajectory Optimization and Contact Selection for Contact-Rich Manipulation", ICRA 2023 Workshop on Embracing contacts. Making robots physically interact with our world, May 2023.
-
MERL Contacts:
-
Research Areas:
Abstract:
Contact-implicit trajectory optimization is an effective method to plan complex trajectories for various contact- rich systems including manipulation and locomotion. These methods formulate contact as complementarity constraints and require solving a mathematical program with complementarity constraints (MPCC). However, MPCC solve times increase steeply with the number of variables and complementarity con- straints, which limits their applicability to problems with low geometric complexity. This paper introduces the simultaneous trajectory optimization and contact selection (STOCS) method that embeds the detection of salient contact points and contact times inside trajectory optimization. Because the number of active contact points is usually small, this approach minimize the number of MPCC variables and constraints, which makes solving manipulation trajectories for objects with complex, non-convex geometry computationally tractable. The proposed approach is validated on a pivoting problem in simulation and on a 6 DoF manipulator arm.
Related News & Events
-
NEWS MERL Researchers Present Thirteen Papers at the 2023 IEEE International Conference on Robotics and Automation (ICRA) Date: May 29, 2023 - June 2, 2023
Where: 2023 IEEE International Conference on Robotics and Automation (ICRA)
MERL Contacts: Anoop Cherian; Radu Corcodel; Siddarth Jain; Devesh K. Jha; Toshiaki Koike-Akino; Tim K. Marks; Daniel N. Nikovski; Arvind Raghunathan; Diego Romeres
Research Areas: Computer Vision, Machine Learning, Optimization, RoboticsBrief- MERL researchers will present thirteen papers, including eight main conference papers and five workshop papers, at the 2023 IEEE International Conference on Robotics and Automation (ICRA) to be held in London, UK from May 29 to June 2. ICRA is one of the largest and most prestigious conferences in the robotics community. The papers cover a broad set of topics in Robotics including estimation, manipulation, vision-based object recognition and segmentation, tactile estimation and tool manipulation, robotic food handling, robot skill learning, and model-based reinforcement learning.
In addition to the paper presentations, MERL robotics researchers will also host an exhibition booth and look forward to discussing our research with visitors.
- MERL researchers will present thirteen papers, including eight main conference papers and five workshop papers, at the 2023 IEEE International Conference on Robotics and Automation (ICRA) to be held in London, UK from May 29 to June 2. ICRA is one of the largest and most prestigious conferences in the robotics community. The papers cover a broad set of topics in Robotics including estimation, manipulation, vision-based object recognition and segmentation, tactile estimation and tool manipulation, robotic food handling, robot skill learning, and model-based reinforcement learning.