Skip to content

Implementations for Trajectory Optimization of Rigid Bodies Through Contact

Notifications You must be signed in to change notification settings

IvLabs/contact_trajectory_optimization

Folders and files

NameName
Last commit message
Last commit date

Latest commit

 

History

53 Commits
 
 
 
 
 
 
 
 
 
 

Repository files navigation

Contact trajectory Optimization

Implementations for Trajectory Optimization of Rigid Bodies Through Contact

Finger Contact

In this example we have a system with three degrees of freedom and only one contact point, We constrained the system to start and end at rest, dq1 = 0, dq2 = 0, dq3 = 0, and optimize for a quadratic cost on control input and velocity of the free circle

About

Implementations for Trajectory Optimization of Rigid Bodies Through Contact

Resources

Stars

Watchers

Forks

Releases

No releases published

Packages

No packages published

Languages