Simultaneous Contact-Rich Grasping and Locomotion via Distributed Optimization Enabling Free-Climbing for Multi-Limbed Robots.
Yuki ShiraiXuan LinAlexander SchperbergYusuke TanakaHayato KatoVarit VichathornDennis W. HongPublished in: IROS (2022)
Keyphrases
- mobile robot
- robotic systems
- cooperative
- distributed systems
- manipulation tasks
- robot control
- human robot interaction
- optimization problems
- global optimization
- object manipulation
- fault tolerant
- multi robot
- optimization method
- legged robots
- multiple robots
- simultaneous optimization
- autonomy oriented computing
- optimization algorithm
- vision system
- neural network
- degrees of freedom
- distributed environment
- multi agent
- high level
- robot teams
- combinatorial optimization
- optimization process
- constrained optimization
- autonomous navigation
- control system
- real world
- real time