TR2022-090

Robust Pivoting Manipulation Using Bilevel Contact-Implicit Optimization


    •  Shirai, Y., Jha, D.K., Raghunathan, A., Romeres, D., "Robust Pivoting Manipulation Using Bilevel Contact-Implicit Optimization", RSS Workshop on The Science of Bumping into Things, June 2022.
      BibTeX TR2022-090 PDF
      • @inproceedings{Shirai2022jun,
      • author = {Shirai, Yuki and Jha, Devesh K. and Raghunathan, Arvind and Romeres, Diego},
      • title = {Robust Pivoting Manipulation Using Bilevel Contact-Implicit Optimization},
      • booktitle = {RSS Workshop on The Science of Bumping into Things},
      • year = 2022,
      • month = jun,
      • url = {https://www.merl.com/publications/TR2022-090}
      • }
  • MERL Contacts:
  • Research Areas:

    Optimization, Robotics

Abstract:

In this draft, we present the formulation of bilevel optimization for performing robust pivoting manipulation. We derive analytical expressions for stability margin provided by friction during pivoting manipulation. This margin is then used in the bilevel trajectory optimization to design an open loop controller that maximizes this stability margin to provide robustness against uncertainty in physical properties of the object. The proposed method has been tested on several pivoting manipulation scenarios

 

  • Related Publications

  •  Shirai, Y., Jha, D.K., Raghunathan, A., Romeres, D., "Robust Pivoting: Exploiting Frictional Stability Using Bilevel Optimization", IEEE International Conference on Robotics and Automation (ICRA), May 2022.
    BibTeX TR2022-045 PDF
    • @inproceedings{Shirai2022may,
    • author = {Shirai, Yuki and Jha, Devesh K. and Raghunathan, Arvind and Romeres, Diego},
    • title = {Robust Pivoting: Exploiting Frictional Stability Using Bilevel Optimization},
    • booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
    • year = 2022,
    • month = may,
    • url = {https://www.merl.com/publications/TR2022-045}
    • }
  •  Shirai, Y., Jha, D.K., Raghunathan, A., Romeres, D., "https://arxiv.org/abs/2203.11412", arXiv, March 2022.
    BibTeX arXiv
    • @article{Shirai2022mar2,
    • author = {Shirai, Yuki and Jha, Devesh K. and Raghunathan, Arvind and Romeres, Diego},
    • title = {https://arxiv.org/abs/2203.11412},
    • journal = {arXiv},
    • year = 2022,
    • month = mar,
    • url = {https://arxiv.org/abs/2203.11412}
    • }