Covariance Steering for Uncertain Contact-rich Systems
Yuki Shirai,Devesh K. Jha,Arvind U. Raghunathan,Yuki Shirai,Devesh K. Jha,Arvind U. Raghunathan
Planning and control for uncertain contact systems is challenging as it is not clear how to propagate uncertainty for planning. Contact-rich tasks can be modeled efficiently using complementarity constraints among other techniques. In this paper, we present a stochastic optimization technique with chance constraints for systems with stochastic complementarity constraints. We use a particle filter-...
