Trajectory Optimization With Implicit Hard Contacts

Summary

Full paper and additional information available at jancarius.de Publication: " Paper: arxiv.org/abs/2309.01813 Code and more: idto.github.io Abstract - Robots must make and break contact to ... Video for publication J. Carius, R. Ranftl, V. Koltun and M. Hutter, " Authors: Michael Posa, Russ Tedrake Title: Supplemental video for ICRA 2021 paper: Yifan Zhu, Zherong Pan, and Kris Hauser. Contact- Paper, video, open-source code, slides and more: awinkler.me Intro: 00:29 - Why Legged Robots? 01:15 - Context of ... Lecture 12 for Optimal Control and Reinforcement Learning 2022 by Prof. Zac Manchester. Topics: - Free and minimum-time ... Are the uh the obvious analogy to this is to use our tools from Simulation vs. experimental results are demonstrated for three non-prehensile manipulation tasks of increasing complexity: (1) ... A presentation of our application of Differential Dynamic Programming to implicitly defined dynamical systems, with a particular ... In this paper we propose a method to improve the accuracy of We then adapt a recent variational contact- It implements a hybrid approach that performs contact-