Hybrid Differential Dynamic Programming for Planar Manipulation Primitives
Neel Doshi,Francois R. Hogan,Alberto Rodriguez,Neel Doshi,Francois R. Hogan,Alberto Rodriguez
We present a hybrid differential dynamic programming (DDP) algorithm for closed-loop execution of manipulation primitives with frictional contact switches. Planning and control of these primitives is challenging as they are hybrid, under-actuated, and stochastic. We address this by developing hybrid DDP both to plan finite horizon trajectories with a few contact switches and to create linear stabi...
