mlsanityData to 7 Oct 2026

Chance-Constrained Optimization in Contact-Rich Systems for Robust Manipulation

arXiv 2203.02616 ↗First posted 5 Mar 2022cs.RO cs.AIcited by 3

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Abstract (arXiv)

This paper presents a chance-constrained formulation for robust trajectory optimization during manipulation. In particular, we present a chance-constrained optimization for Stochastic Discrete-time Linear Complementarity Systems (SDLCS). To solve the optimization problem, we formulate Mixed-Integer Quadratic Programming with Chance Constraints (MIQPCC). In our formulation, we explicitly consider joint chance constraints for complementarity as well as states to capture the stochastic evolution of dynamics. We evaluate robustness of our optimized trajectories in simulation on several systems. The proposed approach outperforms some recent approaches for robust trajectory optimization for SDLCS.

Key facts. Cited by 3 papers in the map (data through 7 Oct 2026). Builds on 10 of its 33 references that are in the map. First posted on arXiv 5 Mar 2022.

Builds on

10 of 33 references.

References · 10

  1. 2021Tactile-RL for Insertion: Generalization to Objects of Unknown Geometrycited by 45
  2. 2021Trajectory Optimization for Manipulation of Deformable Objects: Assembly of Belt Drive Unitscited by 11
  3. 2020Robust Trajectory Optimization over Uncertain Terrain with Stochastic Complementaritycited by 7
  4. 2020Risk-Aware Motion Planning for a Limbed Robot with Stochastic Gripping Forces Using Nonlinear Programmingcited by 6
  5. 2020Stabilization of Complementarity Systems via Contact-Aware Controllerscited by 6
  6. 2021PYROBOCOP : Python-based Robotic Control & Optimization Package for Manipulation and Collision Avoidancecited by 6
  7. 2021SABER: Data-Driven Motion Planner for Autonomously Navigating Heterogeneous Robotscited by 4
  8. 2018Optimal Stochastic Vehicle Path Planning Using Covariance Steeringcited by 3
  9. 2020Stability Analysis of Discrete-Time Linear Complementarity Systemscited by 3
  10. 2021Mediating between Contact Feasibility and Robustness of Trajectory Optimization through Chance Complementarity Constraintscited by 3

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Cited by year

Citing papers per year: 2022: 2; 2023: 1.

3 papers.

  1. 2022Robust Pivoting: Exploiting Frictional Stability Using Bilevel Optimizationcited by 8
  2. 2022Simultaneous Contact-Rich Grasping and Locomotion via Distributed Optimization Enabling Free-Climbing for Multi-Limbed Robotscited by 5
  3. 2023Robust Pivoting Manipulation using Contact Implicit Bilevel Optimizationcited by 3