A hybrid controller samples low-dimensional end-effector targets for a contact-free stage then runs local complementarity MPC at each sample to approximate global contact-implicit optimization.
Inverse dynamics trajectory optimization for contact-implicit model predictive control
2 Pith papers cite this work. Polarity classification is still indexing.
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Pith papers citing it
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cs.RO 2years
2025 2representative citing papers
MorphIt is a gradient-based spherical approximation framework for robot morphology that provides tunable control over accuracy-efficiency tradeoffs and outperforms baselines in speed and geometric fidelity.
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Approximating Global Contact-Implicit MPC via Sampling and Local Complementarity
A hybrid controller samples low-dimensional end-effector targets for a contact-free stage then runs local complementarity MPC at each sample to approximate global contact-implicit optimization.
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MorphIt: Flexible Spherical Approximation of Robot Morphology for Representation-driven Adaptation
MorphIt is a gradient-based spherical approximation framework for robot morphology that provides tunable control over accuracy-efficiency tradeoffs and outperforms baselines in speed and geometric fidelity.