research
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07/30/2022
Robust Planning for Multi-stage Forceful Manipulation
Multi-step forceful manipulation tasks, such as opening a push-and-twist...
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research
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01/07/2021
Planning for Multi-stage Forceful Manipulation
Multi-stage forceful manipulation tasks, such as twisting a nut on a bol...
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10/02/2020
Integrated Task and Motion Planning
The problem of planning for a robot that operates in environments contai...
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09/29/2018
In-Hand Manipulation via Motion Cones
In this paper, we present the mechanics and algorithms to compute the se...
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10/18/2017
Minimizing Task Space Frechet Error via Efficient Incremental Graph Search
We present an algorithm that generates a collision-free configuration-sp...
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10/03/2017
