4 Jun 2024
The next honorable mention for the 2023 IEEE Transactions on #Robotics King-Sun Fu Memorial Best Paper Award is a paper by researchers @MIT_CSAIL that enables global planning for contact rich system using local smoothing.
ieeexplore.ieee.org/document…
#SmoothingMethods
ALT Examples of contact-rich plans generated by our method. Each row corresponds to a time-snapshot of five different tasks. (a) 3-D in-hand manipulation. (b) Plate pickup using extrinsic dexterity. (c) Door opening with a hinge. (d) Pen placement. (e) Bucket rotation with two iiwa arms on hardware. Each plan is generated online in the order of a minute of wall-clock time.
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