Is Linear Feedback on Smoothed Dynamics Sufficient for Stabilizing Contact-Rich Plans?
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.
Code (0)
등록된 구현이 없습니다.
Tasks
Contact-rich ManipulationSimilar Papers 제목 키워드 기반
Data-Driven Control with Inherent Lyapunov Stability
Recent advances in learning-based control leverage deep function approximators, such as neural networks, to model the evolution of controlled dynamical systems over time. However, the problem of learning a dynamics model…
Optimal output feedback control of a class of linear systems with quasi-colored control-dependent multiplicative noise
This paper addresses the mean-square optimal control problem for \a class of discrete-time linear systems with a quasi-colored control-dependent multiplicative noise via output feedback. The noise under study is novel an…
Stabilizing unstable periodic orbit of unknown fractional-order systems via adaptive delayed feedback control
This article presents an adaptive nonlinear delayed feedback control scheme for stabilizing the unstable periodic orbit of unknown fractional-order chaotic systems. The proposed control framework uses the Lyapunov approa…
Very High Frequency Interpolation for Direct Torque Control
Torque control enables agile and robust robot motion, but deployment is often hindered by instability and hardware limits. Here, we present a novel solution to execute whole-body linear feedback at up to 40 kHz on open-s…
On the sample complexity of stabilizing linear dynamical systems from data
Learning controllers from data for stabilizing dynamical systems typically follows a two step process of first identifying a model and then constructing a controller based on the identified model. However, learning model…