Lifted contact dynamics for efficient optimal control of rigid body systems with contacts
Sotaro Katayama,Toshiyuki Ohtsuka,Sotaro Katayama,Toshiyuki Ohtsuka
We propose a novel and efficient lifting approach for the optimal control of rigid-body systems with contacts to improve the convergence properties of Newton-type methods. To relax the high nonlinearity, we consider the state, acceleration, contact forces, and control input torques, as optimization variables and the inverse dynamics and acceleration constraints on the contact frames as equality co...
