Non-prehensile Planar Manipulation via Trajectory Optimization with Complementarity Constraints
João Moura,Theodoros Stouraitis,Sethu Vijayakumar,João Moura,Theodoros Stouraitis,Sethu Vijayakumar
Contact adaptation is an essential capability when manipulating objects. Two key contact modes of non-prehensile manipulation are sticking and sliding. This paper presents a Trajectory Optimization (TO) method formulated as a Mathematical Program with Complementarity Constraints (MPCC), which is able to switch between these two modes. We show that this formulation can be applicable to both plannin...
