collaborators

1 paper

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…