An efficient and direct method for trajectory optimization of robots constrained by contact kinematics and forces

Author:

Lee Jaemin,Bakolas Efstathios,Sentis LuisORCID

Funder

National Science Foundation

Office of Naval Research

Publisher

Springer Science and Business Media LLC

Subject

Artificial Intelligence

Reference64 articles.

1. Arcak, M., & Maidens, J. (2017). Simulation-based reachability analysis for nonlinear systems using componentwise contraction properties. arXiv preprintarXiv:1709.06661.

2. Asarin, E., Bournez, O., Dang, T., & Maler, O. (2000). Approximate reachability analysis of piecewise-linear dynamical systems. In International workshop on hybrid systems: Computation and control (pp. 20–31). Springer.

3. Blanchini, F., & Miani, S. (2008). Set-theoretic methods in control. Berlin: Springer.

4. Budhiraja, R., Carpentier, J., Mastalli, C., & Mansard, N. (2018). Differential dynamic programming for multi-phase rigid contact dynamics. In Proceeding of the IEEE/RSJ international conference on humanoid robots (pp. 1–9). IEEE.

5. Burget, F., & Bennewitz, M. (2015). Stance selection for humanoid grasping tasks by inverse reachability maps. In Proceedings of the IEEE international conference on robotics and automation (pp. 5669–5674). IEEE.

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