Planning and control of dynamic contact manipulation

Siddhartha Srinivasa

Abstract

Manipulation is the art of moving things. In this talk, I will explore the control synthesis problem for a robot dynamically manipulating an object in the presence of multiple frictional contacts. Contacts occur both between the object and the robot, and between the object and the environment. Two sets of constraints govern the evolution of the system --- contact velocity constraints that prevent separation and cause rolling, and, contact force constraints that arise from Coulomb friction. I will describe how we combine the constraints and plan for robot joint accelerations. I will also talk about constructing controllers using dynamic programming, and the global controllability of dynamic contact manipulation.

Presentation Slides

Pdf (1.2Mb)

 

Speaker Appointments

For appointments, please contact Siddhartha Srinivasa (siddh@cmu.edu).