EmPRISE Robotics Laboratory: Contact-Rich Dynamic Planning

Currently working on contact-rich planning for robotic arms, focusing on ways to combine reaction-based planning methods for a robotic arm equipped with external haptic force sensors (e.g. Model Predictive Control) with offline contact-based global planning (e.g. Global Quasi Dynamic Planner) so as to allow for robotic movement with dynamic obstacles such as people while minimizing the chance of reaching local minima (as is the danger of using MPC alone).