Variational Contact-Implicit Trajectory Optimization
نویسندگان
چکیده
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 traditional direct collocation schemes that require contact mode pre-specification.
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