Towards Solutions of Manipulation Tasks via Optimal Control of Projected Dynamical Systems
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arXiv
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| Main Authors: | , , |
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| Format: | Preprint |
| Published: |
2025
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| _version_ | 1866910792197079040 |
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| author | Pozharskiy, Anton Nurkanović, Armin Diehl, Moritz |
| author_facet | Pozharskiy, Anton Nurkanović, Armin Diehl, Moritz |
| contents | We introduce a modeling framework for manipulation planning based on the formulation of the dynamics as a projected dynamical system. This method uses implicit signed distance functions and their gradients to formulate an equivalent gradient complementarity system. The optimal control problem is then solved via a direct method, discretized using finite-elements with switch detection. An extension to this approach is provided in the form of a friction formulation commonly used in quasi-static models. We show that this approach is able to generate trajectories for problems including multiple pushers, friction, and non-convex objects modeled as unions of convex ellipsoids with reasonable computational effort. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2501_11946 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | Towards Solutions of Manipulation Tasks via Optimal Control of Projected Dynamical Systems Pozharskiy, Anton Nurkanović, Armin Diehl, Moritz Optimization and Control We introduce a modeling framework for manipulation planning based on the formulation of the dynamics as a projected dynamical system. This method uses implicit signed distance functions and their gradients to formulate an equivalent gradient complementarity system. The optimal control problem is then solved via a direct method, discretized using finite-elements with switch detection. An extension to this approach is provided in the form of a friction formulation commonly used in quasi-static models. We show that this approach is able to generate trajectories for problems including multiple pushers, friction, and non-convex objects modeled as unions of convex ellipsoids with reasonable computational effort. |
| title | Towards Solutions of Manipulation Tasks via Optimal Control of Projected Dynamical Systems |
| topic | Optimization and Control |
| url | https://arxiv.org/abs/2501.11946 |