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

arXiv: https://arxiv.org/abs/2203.02616 · HTML: https://mlsanity.com/paper/2203.02616/

## Key facts

- Cited by 3 papers in the map (data through 14 Oct 2026).
- Builds on 10 of its 33 references that are in the map.
- First posted on arXiv 5 Mar 2022.

## Builds on (most cited first, 10 of 10)

- [Tactile-RL for Insertion: Generalization to Objects of Unknown Geometry](https://mlsanity.com/paper/2104.01167/) (2021)
- [Trajectory Optimization for Manipulation of Deformable Objects: Assembly of Belt Drive Units](https://mlsanity.com/paper/2106.00898/) (2021)
- [Robust Trajectory Optimization over Uncertain Terrain with Stochastic Complementarity](https://mlsanity.com/paper/2009.12409/) (2020)
- [Risk-Aware Motion Planning for a Limbed Robot with Stochastic Gripping Forces Using Nonlinear Programming](https://mlsanity.com/paper/2006.02656/) (2020)
- [Stabilization of Complementarity Systems via Contact-Aware Controllers](https://mlsanity.com/paper/2008.02104/) (2020)
- [PYROBOCOP : Python-based Robotic Control & Optimization Package for Manipulation and Collision Avoidance](https://mlsanity.com/paper/2106.03220/) (2021)
- [SABER: Data-Driven Motion Planner for Autonomously Navigating Heterogeneous Robots](https://mlsanity.com/paper/2108.01262/) (2021)
- [Optimal Stochastic Vehicle Path Planning Using Covariance Steering](https://mlsanity.com/paper/1809.03380/) (2018)
- [Stability Analysis of Discrete-Time Linear Complementarity Systems](https://mlsanity.com/paper/2012.13287/) (2020)
- [Mediating between Contact Feasibility and Robustness of Trajectory Optimization through Chance Complementarity Constraints](https://mlsanity.com/paper/2105.09973/) (2021)

## Built on by (most cited first, 3 of 3)

- [Robust Pivoting: Exploiting Frictional Stability Using Bilevel Optimization](https://mlsanity.com/paper/2203.11412/) (2022)
- [Simultaneous Contact-Rich Grasping and Locomotion via Distributed Optimization Enabling Free-Climbing for Multi-Limbed Robots](https://mlsanity.com/paper/2207.01418/) (2022)
- [Robust Pivoting Manipulation using Contact Implicit Bilevel Optimization](https://mlsanity.com/paper/2303.08965/) (2023)

## 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.