A Hierarchical Framework for Long Horizon Planning of Object-Contact Trajectories. Bernardo Aceituno and Alberto Rodriguez. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), October 2022.
A Differentiable Recipe for Learning Visual Non-Prehensile Planar Manipulation. [pdf] Bernardo Aceituno, A. Rodriguez, S. Tulsiani, A. Gupta, and Mustafa Mukadam. Conference on Robot Learning (CoRL), October 2021.
A Global Quasi-Dynamic Model for Contact-Trajectory Optimization. [pdf] Bernardo Aceituno and Alberto Rodriguez. Robotics: Science and Systems (RSS), July 2020.
A Convex-Combinatorial Model for Planar Caging.[pdf] Bernardo Aceituno, Hongkai Dai, and Alberto Rodriguez. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Macau, November 2019
Certified Grasping. [pdf] Bernardo Aceituno, José Ballester, and Alberto Rodriguez. International Synposium on Robotics Research (ISRR), Hanoi, Vietnam, October 2019
Simultaneous Contact, Gait and Motion Planning for Robust Multi-Legged Locomotion via Mixed-Integer Convex Optimization. [pdf] [publisher] [video] Bernardo Aceituno, Carlos Mastalli, Hongkai Dai, Michele Focchi, Andreea Radulescu, Darwin G. Caldwell, Jose Cappelletto, Juan C. Grieco, Gerardo Fernandez-Lopez, and Claudio Semini. IEEE International Conference on Robotics and Automation (ICRA), Brisbane, Australia, May 2018 IEEE Robotics and Automation Letters (RA-L), 2018
A Mixed-Integer Convex Optimization Framework for Robust Multilegged Robot Locomotion Planning over Challenging Terrain. [pdf] [publisher] [video] [Source Code] Bernardo Aceituno, Hongkai Dai, Jose Cappelletto, Juan C. Grieco, and Gerardo Fernandez-Lopez. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Vancouver, BC, September 2017
On Certificates and Grasping. Bernardo Aceituno, José Ballester, and Alberto Rodriguez. New England Manipulation Symposium (NEMS), Columbia University, 2019.
A Mixed-Integer Convex Formulation for Simultaneous Contact, Gait and Motion Optimization on Multi-Legged Robots. [pdf] [Video] Bernardo Aceituno, Hongkai Dai, Carlos Mastalli, Michele Focchi, Andreea Radulescu, Darwin G. Caldwell, Jose Cappelletto, Juan C. Grieco, Gerardo Fernandez-Lopez, and Claudio Semini. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2017 Workshop on Frontiers in Contact-rich Robotic Interaction: Modeling, Optimization and Control Synthesis
Mixed-Integer Convex Optimization of Non-Gaited Multi-Legged Walking Sequences. [pdf] Bernardo Aceituno, Hongkai Dai, and Gerardo Fernandez-Lopez. Robotics Science and Systems (RSS) 2017 Workshop on Challenges in Dynamic Legged Locomotion
A Generalized Mixed-Integer Convex Program for Multilegged Footstep Planning on Uneven Terrain. [pdf] [arXiv] [Source Code] Bernardo Aceituno, Jose Cappelletto, Juan C. Grieco, and Gerardo Fernandez-Lopez. arXiv:1612.02109v2 [cs.RO]
A generalized method for multilegged locomotion planning on rough environments. [pdf] (spanish) Bernardo Aceituno, Jose Cappelletto, Juan C. Grieco. National Engineering School Research Workshop (JIFI-EAI), 2016.
