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cs.RO2020
Soft Robot Optimal Control Via Reduced Order Finite Element Models
Sander Tonkens, Joseph Lorenzetti, Marco Pavone
Finite element methods have been successfully used to develop physics-based models of soft robots that capture the nonlinear dynamic behavior induced by continuous deformation. The…
cs.RO2019
Bilevel Optimization for Planning through Contact: A Semidirect Method
Benoit Landry, Joseph Lorenzetti, Zachary Manchester +1
Many robotics applications, from object manipulation to locomotion, require planning methods that are capable of handling the dynamics of contact. Trajectory optimization has been…