Simultaneous Contact-Rich Grasping and Locomotion via Distributed Optimization Enabling Free-Climbing for Multi-Limbed Robots

@article{Shirai2022SimultaneousCG,
  title={Simultaneous Contact-Rich Grasping and Locomotion via Distributed Optimization Enabling Free-Climbing for Multi-Limbed Robots},
  author={Yuki Shirai and Xuan Lin and Alexander Schperberg and Yusuke Tanaka and Hayato Kato and Varit Vichathorn and Dennis Hong},
  journal={2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
  year={2022},
  pages={13563-13570}
}
  • Y. ShiraiXuan Lin Dennis Hong
  • Published 4 July 2022
  • Computer Science, Engineering
  • 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
While motion planning of locomotion for legged robots has shown great success, motion planning for legged robots with dexterous multi-finger grasping is not mature yet. We present an efficient motion planning framework for simultaneously solving locomotion (e.g., centroidal dynamics), grasping (e.g., patch contact), and contact (e.g., gait) problems. To accelerate the planning process, we propose distributed optimization frameworks based on Alternating Direction Methods of Multipliers (ADMM) to… 

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