TR2020-065

Tuning-Free Contact-Implicit Trajectory Optimization


Abstract:

We present a contact-implicit trajectory optimization framework that can plan contact-interaction trajectories for different robot architectures and tasks using a trivial initial guess and without requiring any parameter tuning. This is achieved by using a relaxed contact model along with an automatic penalty adjustment loop for suppressing the relaxation. Moreover, the structure of the problem enables us to exploit the contact information implied by the use of relaxation in the previous iteration, such that the solution is explicitly improved with little computational overhead. We test the proposed approach in simulation experiments for nonprehensile manipulation using a 7-DOF arm and a mobile robot and for planar locomotion using a humanoid-like robot in zero gravity. The results demonstrate that our method provides an out-of-the-box solution with good performance for a wide range of applications.

 

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    •  NEWS    Radu Corcodel to present invited seminar at NYU on Robot Vision
      Date: May 4, 2022
      MERL Contact: Radu Corcodel
      Research Areas: Computer Vision, Robotics
      Brief
      • Radu Corcodel, a Principal Research Scientist in MERL's Computer Vision Group, will present an overview of the Robot Perception research published by MERL for advanced manipulation. The talk will mainly cover topics pertaining to robotic manipulation in unstructured environments such as machine vision, tactile sensing and autonomous grasping. The seminar will also cover specific perception problems in non-prehensile interactions such as Contact-Implicit Trajectory Optimization and Tactile Classification, and is intended for a broader audience.
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  •  Onol, A.O., Corcodel, R., Long, P., Padir, T., "Tuning-Free Contact-Implicit Trajectory Optimization", arXiv, June 2020.
    BibTeX arXiv
    • @article{Onol2020jun,
    • author = {Onol, Aykut O. and Corcodel, Radu and Long, Philip and Padir, Taskin},
    • title = {Tuning-Free Contact-Implicit Trajectory Optimization},
    • journal = {arxiv.org},
    • year = 2020,
    • month = jun,
    • url = {https://arxiv.org/abs/2006.06176}
    • }