Contact-Implicit Trajectory Optimization with Hydroelastic Contact and
iLQR

v1v2 (latest)

Contact-Implicit Trajectory Optimization with Hydroelastic Contact and iLQR

28 February 2022

ArXiv (abs)PDF HTML

Papers citing "Contact-Implicit Trajectory Optimization with Hydroelastic Contact and iLQR"

10 / 10 papers shown

Title
Robust Model-Based In-Hand Manipulation with Integrated Real-Time Motion-Contact Planning and Tracking Yongpeng Jiang Mingrui Yu Xinghao Zhu Masayoshi Tomizuka Xiang-Yang Li 98 0 0 08 May 2025
Dexterous Contact-Rich Manipulation via the Contact Trust Region H.J. Terry Suh Tao Pang Tong Zhao Russ Tedrake 124 5 0 04 May 2025
Explicit Contact Optimization in Whole-Body Contact-Rich Manipulation Victor Leve João Moura Namiko Saito Steve Tonneau S. Vijayakumar 84 2 0 28 Aug 2024
Online state vector reduction during model predictive control with gradient-based trajectory optimisation David Russell Rafael Papallas M. Dogar 48 0 0 21 Aug 2024
Contact-Implicit MPC: Controlling Diverse Quadruped Motions Without Pre-Planned Contact Modes or Trajectories Gijeong Kim Dong-Kyun Kang Joon-ha Kim Seungwoo Hong Hae-Won Park 102 10 0 14 Dec 2023
Inverse Dynamics Trajectory Optimization for Contact-Implicit Model Predictive Control Vince Kurtz Alejandro Castro Aykut Özgün Önol Hai Lin 140 17 0 04 Sep 2023
A Basic Mechanical and Geometric Framework for Quasi-Static Manipulation D. Campolo F. Cardin 38 1 0 19 Jul 2023
Consensus Complementarity Control for Multi-Contact MPC Alp Aydinoglu Adam Wei Wei-Cheng Huang Michael Posa 85 24 0 21 Apr 2023
Real-Time Deformable-Contact-Aware Model Predictive Control for Force-Modulated Manipulation Lasitha Wijayarathne Ziyi Zhou Ye Zhao Frank L. Hammond 55 14 0 19 Dec 2022
Global Planning for Contact-Rich Manipulation via Local Smoothing of Quasi-dynamic Contact Models Tao Pang H.J. Terry Suh Lujie Yang Russ Tedrake 142 106 0 22 Jun 2022