Inverse Dynamics Trajectory Optimization For Contact Implicit Model Predictive Control

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

Presentation for the IEEE/RSJ International Conference on Intelligent Robots and Systems 2023. Paper available at ...

Contact-Implicit Trajectory Optimization using an Analytically Solvable Contact Model

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

We present a

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

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

A novel whole-body

paper: https://arxiv.org/abs/2107.05616 code: https://github.com/dojo-sim/ContactImplicitMPC.jl Fast

This video shows motions planned through

Robust

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

A Feasibility-Driven Approach to

H. Ferrolho, V. Ivan, W. Merkt, I. Havoutis, S. Vijayakumar, "

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

Implementation of "A direct method for

A presentation of our application of Differential Dynamic Programming to implicitly defined dynamical systems, with a particular ...

A Global Quasi-Dynamic