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Simultaneous Contact-Rich Grasping and Locomotion via Distributed Optimization Enabling Free-Climbing for Multi-Limbed Robots

Yuki Shirai, Xuan Lin, Alexander Schperberg, Yusuke Tanaka, Hayato Kato, Varit Vichathorn, Dennis W. Hong. Simultaneous Contact-Rich Grasping and Locomotion via Distributed Optimization Enabling Free-Climbing for Multi-Limbed Robots. In IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2022, Kyoto, Japan, October 23-27, 2022. pages 13563-13570, IEEE, 2022. [doi]

Authors

Yuki Shirai

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Xuan Lin

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Alexander Schperberg

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Yusuke Tanaka

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Hayato Kato

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Varit Vichathorn

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Dennis W. Hong

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