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09/04/2023
Inverse Dynamics Trajectory Optimization for Contact-Implicit Model Predictive Control
Robots must make and break contact to interact with the world and perfor...
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10/18/2022
Contact-Implicit Planning and Control for Non-Prehensile Manipulation Using State-Triggered Constraints
We present a contact-implicit planning approach that can generate contac...
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02/09/2021
Affordance-Based Mobile Robot Navigation Among Movable Obstacles
Avoiding obstacles in the perceived world has been the classical approac...
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06/11/2020
Tuning-Free Contact-Implicit Trajectory Optimization
We present a contact-implicit trajectory optimization framework that can...
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10/24/2018