Contact-implicit trajectory optimization using variational integrators
نویسندگان
چکیده
منابع مشابه
Variational Contact-Implicit Trajectory Optimization
We present a formulation of rigid body dynamics with frictional contact that leverages ideas from discrete mechanics to derive time-stepping schemes with any desired order of integration accuracy. By utilizing the new time-stepping methods as dynamics constraints in a direct trajectory optimization scheme, we are able to perform contact-implicit trajectory optimization with accuracy equal to tr...
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V sequence fxkg. Similar result is also true for quasiNewton methods with trust region (see [16]). Another type of special quasi-Newton methods is that the quasi-Newton matrices are sparse. It is quite often that large-scale problems have separable structure, which leads to special structure of the Hessian matrices. In such cases we can require the quasiNewton matrices to have similar structures.
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ژورنال
عنوان ژورنال: The International Journal of Robotics Research
سال: 2019
ISSN: 0278-3649,1741-3176
DOI: 10.1177/0278364919849235