publications

2024

1. 

   Tube acceleration: robust dexterous throwing against release uncertainty

   Yang Liu, and Aude Billard

   IEEE Transactions on Robotics, 2024

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   Tube Acceleration is a novel solution concept that drives the robot to stay in the family of object flying trajectories, so that the throwing outcome is robust against release uncertainty. Through insightful observations, Tube Acceleration can be found via convex optimization within 50ms.

2022

1. 

   A Solution to Adaptive Mobile Manipulator Throwing

   Yang Liu, Aradhana Nayak, and Aude Billard

   In 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2022

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   Introduce Velocity Hedgehog, a dictionary of throwing configurations, carefully tailored to fit each robot’s geometry and actuator limits. It can be used for reactive and adpative throwing planning for its query efficiency.