An efficient and direct method for trajectory optimization of robots constrained by contact kinematics and forces
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DOI: 10.1007/s10514-020-09952-7
Abstract: In this work, we propose a trajectory generation method for robotic systems with contact kinematics and force constraints based on optimal control and reachability analysis tools. Normally, the dynamics and constraints of a contact-constrained robot… read more here.
Keywords: trajectory optimization; control; method; kinematics ... See more keywords