TR2023-120
Contact-Aware Covariance Control of Stochastic Contact-Rich Systems
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- "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}
- }
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- "Contact-Aware Covariance Control of Stochastic Contact-Rich Systems", IROS 2023 Workshop on Leveraging Models for Contact-Rich Manipulation, September 2023.
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MERL Contacts:
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Research Area:
Abstract:
Planning and control for uncertain contact systems is challenging as it is not clear how to propagate uncertainty for planning. We use a particle filter-based approach to propagate moments for stochastic complementarity system. To circumvent the issues of open-loop chance constrained planning, we propose a contact-aware controller for covariance steering of the complementarity system. Our optimization problem is formulated as Non-Linear Programming (NLP) using bilevel optimization. We verify that our contact-aware controller is able to steer the covariance of the states for stochastic contact- rich tasks.
Related Publications
BibTeX TR2023-024 PDF
- @inproceedings{Shirai2023may3,
- author = {Shirai, Yuki and Jha, Devesh K. and Raghunathan, Arvind},
- title = {Covariance Steering for Uncertain Contact-Rich Systems},
- booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
- year = 2023,
- pages = {7923--7929},
- month = may,
- publisher = {IEEE},
- doi = {10.1109/ICRA48891.2023.10160249},
- isbn = {979-8-3503-2365-8},
- url = {https://www.merl.com/publications/TR2023-024}
- }