Inverse Dynamics Trajectory Optimization for Contact-Implicit Model Predictive Control

Inverse Dynamics Trajectory Optimization for Contact-Implicit Model Predictive Control

4 September 2023

Alejandro Castro

Aykut Özgün Önol

Papers citing "Inverse Dynamics Trajectory Optimization for Contact-Implicit Model Predictive Control"

16 / 16 papers shown

Title
A Smooth Analytical Formulation of Collision Detection and Rigid Body Dynamics With Contact Onur Beker Nico Gürtler Ji Shi A. R. Geist Amirreza Razmjoo Georg Martius Sylvain Calinon 46 0 0 14 Mar 2025
Physics-Driven Data Generation for Contact-Rich Manipulation via Trajectory Optimization Lujie Yang H. Suh Tong Zhao B. P. Graesdal Tarik Kelestemur Jiuguang Wang Tao Pang Russ Tedrake 71 1 0 27 Feb 2025
Equality Constrained Diffusion for Direct Trajectory Optimization Vince Kurtz Joel W. Burdick 14 0 0 02 Oct 2024
Bimanual In-hand Manipulation using Dual Limit Surfaces An Dang James H. Lorenz Xili Yi Nima Fazeli 21 0 0 23 Sep 2024
DROP: Dexterous Reorientation via Online Planning Albert H. Li Preston Culbertson Vince Kurtz Aaron D. Ames 36 3 0 22 Sep 2024
Bilevel Optimization for Real-Time Control with Application to Locomotion Gait Generation Zachary Olkin Aaron D. Ames 20 0 0 18 Sep 2024
Rapid and Robust Trajectory Optimization for Humanoids Bohao Zhang Ram Vasudevan 13 0 0 31 Aug 2024
Complementarity-Free Multi-Contact Modeling and Optimization for Dexterous Manipulation Wanxin Jin 28 4 0 14 Aug 2024
Dynamic On-Palm Manipulation via Controlled Sliding William Yang Michael Posa 24 4 0 14 May 2024
Cafe-Mpc: A Cascaded-Fidelity Model Predictive Control Framework with Tuning-Free Whole-Body Control He Li Patrick M. Wensing 18 5 0 06 Mar 2024
Contact-Implicit Model Predictive Control for Dexterous In-hand Manipulation: A Long-Horizon and Robust Approach Yongpeng Jiang Mingrui Yu Xinghao Zhu Masayoshi Tomizuka Xiang Li 28 1 0 29 Feb 2024
Non-prehensile Planar Manipulation via Trajectory Optimization with Complementarity Constraints João Moura Theodoros Stouraitis S. Vijayakumar 29 27 0 27 Sep 2021
Real-Time Multi-Contact Model Predictive Control via ADMM Alp Aydinoglu Michael Posa 18 33 0 15 Sep 2021
Bundled Gradients through Contact via Randomized Smoothing H. Suh Tao Pang Russ Tedrake 57 36 0 11 Sep 2021
Trajectory Optimization with Optimization-Based Dynamics Taylor A. Howell Simon Le Cleac'h Sumeet Singh Peter R. Florence Zachary Manchester Vikas Sindhwani AI4CE 50 21 0 10 Sep 2021
Fast Contact-Implicit Model-Predictive Control Simon Le Cleac'h Taylor A. Howell Shuo Yang Chia-Yen Lee John Z. Zhang Arun L. Bishop Mac Schwager Zachary Manchester 66 52 0 12 Jul 2021