A direct method for trajectory optimization of rigid bodies through contact

Article English OPEN
Posa, Michael Antonio; Cantu, Cecilia; Tedrake, Russell Louis;
(2013)

Direct methods for trajectory optimization are widely used for planning locally optimal trajectories of robotic systems. Many critical tasks, such as locomotion and manipulation, often involve impacting the ground or objects in the environment. Most state-of-the-art tec... View more
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