IMPACT applies an implicit active-set augmented Lagrangian to MPCC-based contact-implicit trajectory optimization, achieving 2.9x-70x speedups on benchmarks and successful real-robot hardware results.
Contact-implicit differential dynamic pro- gramming for model predictive control with relaxed com- plementarity constraints
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IMPACT: An Implicit Active-Set Augmented Lagrangian for Fast Contact-Implicit Trajectory Optimization
IMPACT applies an implicit active-set augmented Lagrangian to MPCC-based contact-implicit trajectory optimization, achieving 2.9x-70x speedups on benchmarks and successful real-robot hardware results.