Local Trajectory Stabilization for Dexterous Manipulation via Piecewise Affine Approximations
Weiqiao Han,Russ Tedrake,Weiqiao Han,Russ Tedrake
We propose a model-based approach to design feedback policies for dexterous robotic manipulation. The manipulation problem is formulated as reaching the target region from an initial state for some non-smooth nonlinear system. First, we use trajectory optimization to find a feasible trajectory. Next, we characterize the local multi-contact dynamics around the trajectory as a piecewise affine syste...
