Contact Implicit Trajectory Optimization Using Orthogonal Collocation

Summary

In this paper we propose a method to improve the accuracy of Full paper and additional information available at jancarius.de Publication: " This video is an introduction to This video summarizes our work on discovering complex Discretization of a continuous time representation allow large-scale nonlinear programming (NLP) solvers to find solutions at ... By Vince Kurtz and Hai Lin, arxiv.org/abs/2202.13986. Abstract: Presentation for IROS 2023 paper: Michael R. Turski, Joseph Norby, and Aaron M. Johnson. "Staged THE UNIVERSITY of EDINBURGH ... companion video of the paper "Direct Planning locomotion strategies for legged microrobots is challenging due to their complex morphology, high frequency passive ... Paper: arxiv.org/abs/2309.01813 Code and more: idto.github.io Abstract - Robots must make and break A presentation of our application of Differential Dynamic Programming to implicitly defined dynamical systems, Simulation vs. experimental results are demonstrated for three non-prehensile manipulation tasks of increasing complexity: (1) ...