Understanding Trajectory Optimization With Implicit Hard Contacts
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- This video is an introduction to
- This video shows motions planned through contact-
- Turns out I accidentally reverse engineered their landing controller. (but sort of not really, see article) Original twitter post: ...
- We then adapt a recent variational contact-
- Presentation for IROS 2023 paper: Michael R. Turski, Joseph Norby, and Aaron M. Johnson. "Staged Contact
Detailed Analysis of Trajectory Optimization With Implicit Hard Contacts
In this paper we propose a method to improve the accuracy of THE UNIVERSITY of EDINBURGH ... Paper: https://arxiv.org/abs/2309.01813 Code and more: https://idto.github.io Abstract - Robots must make and break contact to ...
Simulation vs. experimental results are demonstrated for three non-prehensile manipulation tasks of increasing complexity: (1) ...
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