Demonstration-guided Optimal Control for Long-term Non-prehensile Planar Manipulation
Teng Xue,Hakan Girgin,Teguh Santoso Lembono,Sylvain Calinon,Teng Xue,Hakan Girgin,Teguh Santoso Lembono,Sylvain Calinon
Long-term non-prehensile planar manipulation is a challenging task for robot planning and feedback control. It is characterized by underactuation, hybrid control, and contact uncertainty. One main difficulty is to determine both the continuous and discrete contact configurations, e.g., contact points and modes, which requires joint logical and geometrical reasoning. To tackle this issue, we propos...
