The workshop seeks to address three major challenges: 1) high-fidelity yet tractable computational solution to rigid body frictional contacts modeling and soft material; 2) optimization-based motion planning without full mode scheduling; 3) control synthesis for contact-rich interaction with visual and tactile feedback...
Mastering physical interaction with frictional contact is essential to autonomous robotic manipulation and locomotion in a complex, cluttered and dynamically changing environment. A common manipulation pipeline often consists of two stages. The first stage is to plan a collision free path to a pre-action pose followed by an open-loop action. The second stage is to.