Contact-Implicit Trajectory Optimization with Hydroelastic Contact and iLQR

28 February 2022

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

12 / 12 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 49 0 0 08 May 2025
Dexterous Contact-Rich Manipulation via the Contact Trust Region H. Suh Tao Pang Tong Zhao Russ Tedrake 36 4 0 04 May 2025
Explicit Contact Optimization in Whole-Body Contact-Rich Manipulation Victor Leve João Moura Namiko Saito Steve Tonneau S. Vijayakumar 37 2 0 28 Aug 2024
Online state vector reduction during model predictive control with gradient-based trajectory optimisation David Russell Rafael Papallas M. Dogar 26 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 36 5 0 14 Dec 2023
Inverse Dynamics Trajectory Optimization for Contact-Implicit Model Predictive Control Vince Kurtz Alejandro Castro Aykut Özgün Önol Hai Lin 44 15 0 04 Sep 2023
A Basic Mechanical and Geometric Framework for Quasi-Static Manipulation D. Campolo F. Cardin 11 1 0 19 Jul 2023
Consensus Complementarity Control for Multi-Contact MPC Alp Aydinoglu Adam Wei Wei-Cheng Huang Michael Posa 31 22 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 21 11 0 19 Dec 2022
Global Planning for Contact-Rich Manipulation via Local Smoothing of Quasi-dynamic Contact Models Tao Pang H. Suh Lujie Yang Russ Tedrake 42 58 0 22 Jun 2022
Real-Time Multi-Contact Model Predictive Control via ADMM Alp Aydinoglu Michael Posa 41 43 0 15 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 81 79 0 12 Jul 2021