A direct method for trajectory optimization of rigid bodies through contact
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 techniques treat the discontinuou...
| Main Authors: | , , |
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| Other Authors: | |
| Format: | Article |
| Language: | en_US |
| Published: |
Sage Publications
2014
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| Online Access: | http://hdl.handle.net/1721.1/90907 https://orcid.org/0000-0003-0599-385X https://orcid.org/0000-0002-8712-7092 |