Vamsi Krishna Kalagaturu

From Composable Models to Correct-By-Construction Software for Contact-Rich Robotic Mobile-Manipulation Tasks

Software frameworks like the Stack of Tasks (SoT), the Stanford Whole-Body Control (WBC) library, or the instantaneous Task Specification using Constraints (iTaSC) have enabled robots to perform advanced, contact-oriented manipulation tasks. jgeom constr and eTaSL are among the few formal, computer-…