Contact Implicit Trajectory Optimization Using An Analytically Solvable Contact Model

Contact-Implicit Trajectory Optimization using an Analytically Solvable Contact Model

Supplemental video for ICRA 2021 paper: Yifan Zhu, Zherong Pan, and Kris Hauser.

Paper: https://arxiv.org/abs/2309.01813 Code and more: https://idto.github.io Abstract - Robots must make and break

By Vince Kurtz and Hai Lin, https://arxiv.org/abs/2202.13986. Abstract:

... and additional information available at http://www.jancarius.de Publication: "

We present a

In this paper we propose a method to improve the accuracy of

Simulation vs. experimental results are demonstrated for three non-prehensile manipulation tasks of increasing complexity: (1) ...

This video presents our work on robust extrinsic dexterity. In particular, we show a novel method for computing robust

Authors and Affiliations: Dezhong Tong [1], Andrew Choi [2], Jungseock Joo [3], M. Khalid Jawed [1] [1] Department of Mechanical ...

Planning locomotion strategies for legged microrobots is challenging due to their complex morphology, high frequency passive ...

This video shows motions planned

This video demonstrates

This video summarizes our work on discovering complex

Presentation for IROS 2023 paper: Michael R. Turski, Joseph Norby, and Aaron M. Johnson. "Staged

Implementation of "A direct method for

... physics driven data generation for

Dynamic Walking 2020:

Presentation video for "Simultaneous