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cs.RO2026
MAGMA: Multiplier-Augmented Geometric Motion Algorithm
César E. Ramos Chuquiure, Vansh Thakur, Challen Enninful Adu +1
Solving optimal control problems for high-dimensional mechanical systems subject to constraints remains challenging due to nonlinear dynamics and non-convex feasible sets. This pap…
cs.RO2026
LEAP: Gradient Flow Augmented Lagrangian Trajectory Optimization for Contact Constrained Robots
César E. Ramos Chuquiure, Ryan Tsai, Yutong Zhou +8
Generating dynamically feasible motions for legged and manipulating robots requires solving a large, nonlinear, non-convex optimal control problem (OCP) in which contact wrenches m…