Is Linear Feedback on Smoothed Dynamics Sufficient for Stabilizing Contact-Rich Plans?

Autor:	Shirai, Yuki, Zhao, Tong, Suh, H. J. Terry, Zhu, Huaijiang, Ni, Xinpei, Wang, Jiuguang, Simchowitz, Max, Pang, Tao
Rok vydání:	2024
Předmět:	Computer Science - Robotics Computer Science - Artificial Intelligence Electrical Engineering and Systems Science - Systems and Control
Druh dokumentu:	Working Paper
Popis:	Designing planners and controllers for contact-rich manipulation is extremely challenging as contact violates the smoothness conditions that many gradient-based controller synthesis tools assume. Contact smoothing approximates a non-smooth system with a smooth one, allowing one to use these synthesis tools more effectively. However, applying classical control synthesis methods to smoothed contact dynamics remains relatively under-explored. This paper analyzes the efficacy of linear controller synthesis using differential simulators based on contact smoothing. We introduce natural baselines for leveraging contact smoothing to compute (a) open-loop plans robust to uncertain conditions and/or dynamics, and (b) feedback gains to stabilize around open-loop plans. Using robotic bimanual whole-body manipulation as a testbed, we perform extensive empirical experiments on over 300 trajectories and analyze why LQR seems insufficient for stabilizing contact-rich plans. The video summarizing this paper and hardware experiments is found here: https://youtu.be/HLaKi6qbwQg?si=_zCAmBBD6rGSitm9. Comment: Under review for ICRA2025
Databáze:	arXiv
Externí odkaz:	http://arxiv.org/abs/2411.06542 Zobrazit plný text záznamu View this record from Arxiv