Showing cs.ROShow all
2 papers · 1 filter
cs.RO2025
CENIC: Convex Error-controlled Numerical Integration for Contact
Vince Kurtz, Alejandro Castro
State-of-the-art robotics simulators operate in discrete time. This requires users to choose a time step, which is both critical and challenging: large steps can produce non-physic…
cs.RO2025
Inverse Dynamics Trajectory Optimization for Contact-Implicit Model Predictive Control
Vince Kurtz, Alejandro Castro, Aykut Ãzgün Ãnol +1
Robots must make and break contact with the environment to perform useful tasks, but planning and control through contact remains a formidable challenge. In this work, we achieve r…