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10/25/2022
Quasistatic contact-rich manipulation via linear complementarity quadratic programming
Contact-rich manipulation is challenging due to dynamically-changing phy...
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03/02/2022
Whole-body model predictive control with rigid contacts via online switching time optimization
This study presents a whole-body model predictive control (MPC) of robot...
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12/14/2021
Structure-Exploiting Newton-Type Method for Optimal Control of Switched Systems
This study proposes an efficient Newton-type method for the optimal cont...
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08/03/2021
Lifted contact dynamics for efficient direct optimal control of rigid body systems with contacts
We propose a novel and efficient lifting approach for the direct optimal...
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06/08/2021
Efficient solution method based on inverse dynamics for optimal control problems of rigid body systems
We propose an efficient way of solving optimal control problems for rigi...
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02/19/2021