TR2022-045
Robust Pivoting: Exploiting Frictional Stability Using Bilevel Optimization
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- , "Robust Pivoting: Exploiting Frictional Stability Using Bilevel Optimization", IEEE International Conference on Robotics and Automation (ICRA), DOI: 10.1109/ICRA46639.2022.9811812, May 2022, pp. 992-998.BibTeX TR2022-045 PDF Video
- @inproceedings{Shirai2022may,
- author = {Shirai, Yuki and Jha, Devesh K. and Raghunathan, Arvind and Romeres, Diego},
- title = {{Robust Pivoting: Exploiting Frictional Stability Using Bilevel Optimization}},
- booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
- year = 2022,
- pages = {992--998},
- month = may,
- publisher = {IEEE},
- doi = {10.1109/ICRA46639.2022.9811812},
- url = {https://www.merl.com/publications/TR2022-045}
- }
- , "Robust Pivoting: Exploiting Frictional Stability Using Bilevel Optimization", IEEE International Conference on Robotics and Automation (ICRA), DOI: 10.1109/ICRA46639.2022.9811812, May 2022, pp. 992-998.
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MERL Contacts:
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Research Areas:
Abstract:
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 present insights about how friction can be exploited to compensate for the inaccuracies in the estimates of the physical properties during manipulation. In particular, we derive analytical expressions for stability margin provided by friction during pivoting manipulation. This margin is then used in a bilevel trajectory optimization algorithm to design a controller that maximizes this stability margin to provide robustness against uncertainty in physical properties of the object. We demonstrate our proposed method using a 6 DoF manipulator for manipulating several different objects.
Related News & Events
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NEWS Invited talk at The Penn State Seminar Series on Systems, Control, and Robotics. Date: October 20, 2022
Where: University Park, PA
MERL Contact: Devesh K. Jha
Research Areas: Artificial Intelligence, Control, RoboticsBrief- Devesh Jha, a Principal Research Scientist in the Data Analytics Group at MERL, delivered an invited talk at The Penn State Seminar Series on Systems, Control and Robotics. This talk presented some of the recent work done at MERL in the areas of optimization and control for robotic manipulation in unstructured environment.
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NEWS MERL researchers presented 5 papers and an invited workshop talk at ICRA 2022 Date: May 23, 2022 - May 27, 2022
Where: International Conference on Robotics and Automation (ICRA)
MERL Contacts: Ankush Chakrabarty; Stefano Di Cairano; Siddarth Jain; Devesh K. Jha; Pedro Miraldo; Daniel N. Nikovski; Arvind Raghunathan; Diego Romeres; Abraham P. Vinod; Yebin Wang
Research Areas: Artificial Intelligence, Machine Learning, RoboticsBrief- MERL researchers presented 5 papers at the IEEE International Conference on Robotics and Automation (ICRA) that was held in Philadelphia from May 23-27, 2022. The papers covered a broad range of topics from manipulation, tactile sensing, planning and multi-agent control. The invited talk was presented in the "Workshop on Collaborative Robots and Work of the Future" which covered some of the work done by MERL researchers on collaborative robotic assembly. The workshop was co-organized by MERL, Mitsubishi Electric Automation's North America Development Center (NADC), and MIT.
Related Video
Related Publications
- @inproceedings{Shirai2022jun,
- author = {Shirai, Yuki and Jha, Devesh K. and Raghunathan, Arvind and Romeres, Diego},
- title = {{Robust Pivoting Manipulation Using Bilevel Contact-Implicit Optimization}},
- booktitle = {RSS Workshop on The Science of Bumping into Things},
- year = 2022,
- month = jun,
- url = {https://www.merl.com/publications/TR2022-090}
- }