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Full paper and additional information available at Publication: " Supplemental video for ICRA 2021 paper: Yifan Zhu, Zherong Pan, and Kris Hauser. Contact- Paper: Code and more: Abstract - Robots must make and break contact to ... Paper, video, open-source code, slides and more: Intro: 00:29 - Why Legged Robots? 01:15 - Context of ... Turns out I accidentally reverse engineered their landing controller. (but sort of not really, see article) Original post: ... In this paper we propose a method to improve the accuracy of
Course Instructor: Pieter Abbeel Guest Lecturer: Igor Mordatch Course Website: ... It implements a hybrid approach that performs contact- Simulation vs. experimental results are demonstrated for three non-prehensile manipulation tasks of increasing complexity: (1) ... Presentation for IROS 2023 paper: Michael R. Turski, Joseph Norby, and Aaron M. Johnson. "Staged Contact Publication by Tim Seyde, Jan Carius, Ruben Grandia, Farbod Farshidian, Marco Hutter Robotic Systems Lab, ETH Zurich ... A presentation of our application of Differential Dynamic Programming to implicitly defined dynamical systems, with a particular ...
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Trajectory Optimization with Implicit Hard Contacts
Contact-Implicit Trajectory Optimization with Learned Deformable Contacts, ICRA 2021
Inverse Dynamics Trajectory Optimization for Contact-Implicit Model Predictive Control
Introduction to Trajectory Optimization
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Last Updated: May 26, 2026
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