Posts in Conference Publication
A Quasi-static Model and Simulation Approach for Pushing, Grasping, and Jamming

While quasi-static models are often used for non-prehensile manipulation, they broadly remain incapable of capturing grasping and jamming behaviors, which are essential for dexterous manipulation. We rectify these issues by explicitly modeling the internal dynamics of the manipulator, allowing for guaranteed existence of solutions for arbitrary manipulator commands. We formulate both continuous and time-steeping dynamics as tractable Linear Complementarity Problems.

Paper - Video - Presentation - Code

Read More