Inverse Dynamics Trajectory Optimization For

Paper: https://arxiv.org/abs/2309.01813 Code and more: https://idto.github.io Abstract - Robots must make and break contact to ...

March 31, 2026 Instructor: Dr. Christian Hubicki Applied Optimal Control EML 4930/5930-0001.

Presentation for the IEEE/RSJ International Conference on Intelligent Robots and Systems 2023. Paper available at ...

So, the core algorithm is a direct

A pre-recorded version of our presentation at the 2021 International Conference on Robotics and Automation. Authors: Matthew ...

Robust

H. Ferrolho, V. Ivan, W. Merkt, I. Havoutis, S. Vijayakumar, "

By Vince Kurtz and Hai Lin, https://arxiv.org/abs/2202.13986. Abstract: Contact-implicit

This is a video supplement to the book "Modern Robotics: Mechanics, Planning, and Control," by Kevin Lynch and Frank Park, ...

Talk at the ICRA'2021 conference, also journal publication: O. de Groot, B. Brito, L. Ferranti, D.M. Gavrila and J. Alonso-Mora.

Abstract: Traditionally,

Companion video for ICRA 2021 paper: https://arxiv.org/abs/2010.09047 Source code for controller and simulation available at: ...

High performance and compliant robot control require accurate