TR2022-090

Robust Pivoting Manipulation Using Bilevel Contact-Implicit Optimization

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

 

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  •  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), DOI: 10.1109/​ICRA46639.2022.9811812, May 2022, pp. 992-998.
    BibTeX TR2022-045 PDF Video
    • @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,
    • pages = {992--998},
    • month = may,
    • publisher = {IEEE},
    • doi = {10.1109/ICRA46639.2022.9811812},
    • url = {https://www.merl.com/publications/TR2022-045}
    • }
  •  Shirai, Y., Jha, D.K., Raghunathan, A., Romeres, D., "Robust Pivoting: Exploiting Frictional Stability Using Bilevel Optimization", arXiv, March 2022.
    BibTeX arXiv
    • @article{Shirai2022mar2,
    • author = {Shirai, Yuki and Jha, Devesh K. and Raghunathan, Arvind and Romeres, Diego},
    • title = {Robust Pivoting: Exploiting Frictional Stability Using Bilevel Optimization},
    • journal = {arXiv},
    • year = 2022,
    • month = mar,
    • url = {https://arxiv.org/abs/2203.11412}
    • }