Robust Pivoting: Exploiting Frictional Stability Using Bilevel Optimization
Yuki Shirai,Devesh K. Jha,Arvind U. Raghunathan,Diego Romeres,Yuki Shirai,Devesh K. Jha,Arvind U. Raghunathan,Diego Romeres
Generalizable manipulation requires that robots be able to interact with novel objects and environment. This requirement makes manipulation extremely challenging as a robot has to reason about complex frictional interaction with uncertainty in physical properties of the object. In this paper, we study robust optimization for control of pivoting manipulation in the presence of uncertainties. We pre...
