Trajectory Optimization With Implicit Hard

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

Turns out I accidentally reverse engineered their landing controller. (but sort of not really, see article) Original twitter post: ...

This video is an introduction to

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

We present a contact-

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

Talk given at the Pravartana workshop, held at the Indian Institute of Technology, Kanpur, July 23-25, 2014. Slides and code are ...

Paper, video, open-source code, slides and more: http://www.awinkler.me Intro: 00:29 - Why Legged Robots? 01:15 - Context of ...

Contact-Implicit Trajectory Optimization using an Analytically Solvable Contact Model

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) ...

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

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

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

In this video, we describe our approach to using non-convex

Authors of a recent T-RO paper introduce DiffOG, a differentiable

Video for our IEEE Robotics and Automation Letters (RA-L) 2025 paper: "Contact-

ICRA 2021 Best Automation Paper Award Finalist.

This video shows motions planned through contact-

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