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Simulation vs. experimental results are demonstrated for three non-prehensile manipulation tasks of increasing complexity: (1) ... Planning locomotion strategies for legged microrobots is challenging due to their complex morphology, high frequency passive ... Lecture 12 for Optimal Control and Reinforcement Learning (CMU 16-745) 2023 by Prof. Zac Manchester. Topics: - Free and ...
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Contact-Implicit Trajectory Optimization using Orthogonal Collocation
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Last Updated: May 26, 2026
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