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 [BibTeX] [Marc21]
Demonstration-guided Optimal Control for Long-term Non-prehensile Planar Manipulation
Type of publication: Conference paper
Citation: Xue_ICRA_2023
Publication status: Published
Booktitle: Proc. IEEE Intl Conf. on Robotics and Automation (ICRA)
Year: 2023
Pages: 4999-5005
ISSN: 1050-4729 2577-087X
ISBN: 979-8-3503-2365-8
DOI: https://doi.org/10.1109/ICRA48891.2023.10161496
Abstract: Long-term non-prehensile planar manipulation is a challenging task for robot planning and feedback control. It is characterized by underactuation, hybrid control, and contact uncertainty. One main difficulty is to determine both the continuous and discrete contact configurations, e.g., contact points and modes, which requires joint logical and geometrical reasoning. To tackle this issue, we propose a demonstration-guided hierarchical optimization framework to achieve offline task and motion planning (TAMP). Our work extends the formulation of the dynamics model of the pusher-slider system to include separation mode with face switching mechanism, and solves a warm-started TAMP problem by exploiting human demonstrations. We show that our approach can cope well with the local minima problems currently present in the state-of-the-art solvers and determine a valid solution to the task. We validate our results in simulation and demonstrate its applicability on a pusher-slider system with a real Franka Emika robot in the presence of external disturbances. Project webpage: https://sites.google.com/view/dg-oc/.
Projects Idiap
Authors Xue, Teng
Girgin, Hakan
Lembono, Teguh Santoso
Calinon, Sylvain
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  • Xue_ICRA_2023.pdf