Scaling Whole-body Multi-contact Manipulation with Contact Optimization

Victor Levé¹, João Moura¹, Sachiya Fujita², Tamon Miyake², Steve Tonneau¹, Sethu Vijayakumar¹

¹The University of Edinburgh ²Waseda University

❤️ Accepted at the 2025 IEEE-RAS 24th International Conference on Humanoid Robots (Humanoids).

Presentation Video

BibTeX

@misc{Lev__2025,
  title={Scaling Whole-body Multi-contact Manipulation with Contact Optimization},
  author={Levé, Victor and Moura, João and Fujita, Sachiya and Miyake, Tamon and Tonneau, Steve and Vijayakumar, Sethu},
  booktitle={2025 IEEE-RAS 24th International Conference on Humanoid Robots (Humanoids)},
  year={2025}}

Explicit Contact Optimization in Whole-Body Contact-Rich Manipulation

Victor Levé¹, João Moura¹, Saito Namiko¹, Steve Tonneau¹, Sethu Vijayakumar¹

¹The University of Edinburgh

❤️ Accepted at the 2024 IEEE-RAS 23rd International Conference on Humanoid Robots (Humanoids).

📜Paper 🎬Video

Presentation Video

BibTeX

@inproceedings{Lev__2024,
  title={Explicit Contact Optimization in Whole-Body Contact-Rich Manipulation},
  booktitle={IEEE-RAS 23rd International Conference on Humanoid Robots (Humanoids)},
  author={Levé, Victor and Moura, João and Saito, Namiko and Tonneau, Steve and Vijayakumar, Sethu},
  pages={451–458}, year={2024}, DOI={10.1109/humanoids58906.2024.10769591}}

Acknowledgement

This work is supported by the JST Moonshot R\&D (Grant No. JPMJMS2031), Kawada Robotics Corporation and The Alan Turing Institute.