Non-prehensile Planar Manipulation via Trajectory Optimization with Complementarity Constraints

Joao Pousa De Moura, Theodoros Stouraitis, Sethu Vijayakumar

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

Contact adaption is an essential capability when manipulating objects. Two key contact modes of non-prehensile manipulation are sticking and sliding. This paper presents a Trajectory Optimization (TO) method formulated as a Mathematical Program with Complementarity Constraints (MPCC), which is able to switch between these two modes. We show that this formulation can be applicable to both planning and Model Predictive Control (MPC) for planar manipulation tasks. We numerically compare: (i) our planner against a mixed integer alternative, showing that the MPCC planer converges faster, scales better with respect to time horizon, and can handle environments with obstacles; (ii) our controller against a state-of-the-art mixed integer approach, showing that the MPCC controller achieves better tracking and more consistent computation times. Additionally, we experimentally validate both our planner and controller with the KUKA LWR robot on a range of planar manipulation tasks.
Original languageEnglish
Title of host publicationProceedings of IEEE International Conference on Robotics and Automation (ICRA) 2022
PublisherInstitute of Electrical and Electronics Engineers (IEEE)
Pages970-976
Number of pages7
ISBN (Electronic)978-1-7281-9681-7
ISBN (Print)978-1-7281-9682-4
DOIs
Publication statusPublished - 12 Jul 2022
Event2022 IEEE International Conference on Robotics and Automation - Philadelphia , United States
Duration: 23 May 202227 May 2022
https://www.icra2022.org/

Conference

Conference2022 IEEE International Conference on Robotics and Automation
Abbreviated titleICRA 2022
Country/TerritoryUnited States
CityPhiladelphia
Period23/05/2227/05/22
Internet address

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