mlsanityData to 7 Oct 2026

Robust Pivoting: Exploiting Frictional Stability Using Bilevel Optimization

arXiv 2203.11412 ↗First posted 22 Mar 2022cs.RO cs.AI cs.SYcited by 8

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Abstract (arXiv)

Generalizable manipulation requires that robots be able to interact with novel objects and environment. This requirement makes manipulation extremely challenging as a robot has to reason about complex frictional interaction with uncertainty in physical properties of the object. In this paper, we study robust optimization for control of pivoting manipulation in the presence of uncertainties. We present insights about how friction can be exploited to compensate for the inaccuracies in the estimates of the physical properties during manipulation. In particular, we derive analytical expressions for stability margin provided by friction during pivoting manipulation. This margin is then used in a bilevel trajectory optimization algorithm to design a controller that maximizes this stability margin to provide robustness against uncertainty in physical properties of the object. We demonstrate our proposed method using a 6 DoF manipulator for manipulating several different objects.

Key facts. Cited by 8 papers in the map (data through 7 Oct 2026). Builds on 13 of its 25 references that are in the map. First posted on arXiv 22 Mar 2022.

Builds on

13 of 25 references.

References · 13

  1. 2018GelSlim: A High-Resolution, Compact, Robust, and Calibrated Tactile-sensing Fingercited by 50
  2. 2021Tactile-RL for Insertion: Generalization to Objects of Unknown Geometrycited by 45
  3. 2020Tactile Dexterity: Manipulation Primitives with Tactile Feedbackcited by 21
  4. 2021Trajectory Optimization for Manipulation of Deformable Objects: Assembly of Belt Drive Unitscited by 11
  5. 2021Simultaneous Tactile Exploration and Grasp Refinement for Unknown Objectscited by 9
  6. 2020Robust Trajectory Optimization over Uncertain Terrain with Stochastic Complementaritycited by 7
  7. 2020Risk-Aware Motion Planning for a Limbed Robot with Stochastic Gripping Forces Using Nonlinear Programmingcited by 6
  8. 2021PYROBOCOP : Python-based Robotic Control & Optimization Package for Manipulation and Collision Avoidancecited by 6
  9. 2017Application of Wrench based Feasibility Analysis to the Online Trajectory Optimization of Legged Robotscited by 5
  10. 2019Local Trajectory Stabilization for Dexterous Manipulation via Piecewise Affine Approximationscited by 4
  11. 2020Stability Analysis of Discrete-Time Linear Complementarity Systemscited by 3
  12. 2021Mediating between Contact Feasibility and Robustness of Trajectory Optimization through Chance Complementarity Constraintscited by 3
1 more
  1. 2022Chance-Constrained Optimization in Contact-Rich Systems for Robust Manipulationcited by 3

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Cited by year

Citing papers per year: 2022: 2; 2023: 2; 2024: 2; 2025: 2.

8 papers.

  1. 2024Imperative Learning: A Self-supervised Neuro-Symbolic Learning Framework for Robot Autonomycited by 16
  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
  4. 2024Is Linear Feedback on Smoothed Dynamics Sufficient for Stabilizing Contact-Rich Plans?cited by 2
  5. 2022Generalizable Human-Robot Collaborative Assembly Using Imitation Learning and Force Controlcited by 1
  6. 2025Hierarchical Contact-Rich Trajectory Optimization for Multi-Modal Manipulation using Tight Convex Relaxationscited by 1
  7. 2023A Virtual Reality Teleoperation Interface for Industrial Robot Manipulatorscited by 0
  8. 2025Learning Pivoting Manipulation with Force and Vision Feedback Using Optimization-based Demonstrationscited by 0