Tuning-Free Contact-Implicit Trajectory Optimization
Aykut Özgun Önol,Radu Corcodel,Philip Long,Taşkın Padır,Aykut Özgun Önol,Radu Corcodel,Philip Long,Taşkın Padır
We present a contact-implicit trajectory optimization framework that can plan contact-interaction trajectories for different robot architectures and tasks using a trivial initial guess and without requiring any parameter tuning. This is achieved by using a relaxed contact model along with an automatic penalty adjustment loop for suppressing the relaxation. Moreover, the structure of the problem en...
