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Sampling-Based MPC for Contact-Rich Manipulation

Updated: Mar 27, 2024

We were invited to give a talk at the Workshop on Leveraging Models for Contact-Rich Manipulation at the International Conference on Intelligent Robots and Systems (IROS) 2023 in Detroit, MI. I presented our progress on a contact-implicit robot controller for performing manipulation tasks. The controller works in real time thanks to local models that still preserve contact-derived multimodality, injected with global insights from sampling hypothetical end effector locations.

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Peg Chair

July 2017   Bianchini-Love

Inspired by a chair found in an MIT machine shop, we built a peg chair, designed as a way to temporarily "sit" and take > 50% of the weight off your feet. The height is adjustable, and the seat is easily replaceable with any standard-mount bicycle seat. It's a quirky way to pseudo-sit-stand or an efficient way to produce another seat for more guests.

A redneck immersion for Henry

Bibit made her lamp (see the Lamp post) in the workshop of and using the expertise of Robert and Andi Moran, her northern Louisiana aunt and uncle.  The peg chair came out of a trip to give Henry a taste of what he was missing!