Contact-Implicit Model Predictive Control for Dexterous In-hand Manipulation: A Long-Horizon and Robust Approach

Yongpeng Jiang, Mingrui Yu, Xinghao Zhu, Masayoshi Tomizuka, Xiang Li 0009. Contact-Implicit Model Predictive Control for Dexterous In-hand Manipulation: A Long-Horizon and Robust Approach. In IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2024, Abu Dhabi, United Arab Emirates, October 14-18, 2024. pages 5260-5266, IEEE, 2024. [doi]

Abstract

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