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cs.RO2026
LieIPM: Lie Group Interior Point Method for Direct Trajectory Optimization of Rigid Bodies
Sangli Teng, Ruiqi Zhang, Tzu-Yuan Lin +5
Designing dynamically feasible trajectories for rigid bodies is a fundamental problem in robotics. While direct methods are widely used, the existing constrained optimizers typical…
cs.RO2024
The Interplay Between Symmetries and Impact Effects on Hybrid Mechanical Systems
William Clark, Leonardo Colombo, Anthony Bloch
Hybrid systems are dynamical systems with continuous-time and discrete-time components in their dynamics. When hybrid systems are defined on a principal bundle we are able to defin…