IPAB Workshop - 02/06/2022

Title:

Non-prehensile Planar Manipulation vis Trajectory Optimization with Complementarity Constraints

Abstract:

Manipulating objects without fully grasping them, known as non-prehensile manipulation, can be quite challenging due to the complex nature of the contact interaction between the robot and the manipulated object.

I have been studying this type of contact interactions, with special emphasis on sliding contacts, and in this talk I will go through a case study of how to plan and control the motion of a planar object using a non-linear Model Predictive Controller (MPC).