Multi-mode Trajectory Optimization for Impact-aware Manipulation
Theodoros Stouraitis,Lei Yan,João Moura,Michael Gienger,Sethu Vijayakumar,Theodoros Stouraitis,Lei Yan,João Moura,Michael Gienger,Sethu Vijayakumar
The transition from free motion to contact is a challenging problem in robotics, in part due to its hybrid nature. Additionally, disregarding the effects of impacts at the motion planning level often results in intractable impulsive contact forces. In this paper, we introduce an impact-aware multi-mode trajectory optimization (TO) method that combines hybrid dynamics and hybrid control in a cohere...
