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09/04/2023
Inverse Dynamics Trajectory Optimization for Contact-Implicit Model Predictive Control
Robots must make and break contact to interact with the world and perfor...
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03/15/2023
A Convex Formulation of Frictional Contact between Rigid and Deformable Bodies
We present a novel convex formulation that models rigid and deformable b...
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10/19/2021
An Unconstrained Convex Formulation of Compliant Contact
We present a convex formulation of compliant frictional contact and a ro...
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10/08/2021