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cs.RO2025
Differentiable Simulation of Soft Robots with Frictional Contacts
Etienne Ménager, Louis Montaut, Quentin Le Lidec +1
In recent years, soft robotics simulators have evolved to offer various functionalities, including the simulation of different material types (e.g., elastic, hyper-elastic) and act…
cs.RO2022
Constrained Differential Dynamic Programming: A primal-dual augmented Lagrangian approach
Wilson Jallet, Antoine Bambade, Nicolas Mansard +1
Trajectory optimization is an efficient approach for solving optimal control problems for complex robotic systems. It relies on two key components: first the transcription into a s…