Introduces boundary-focused rollouts to screen the smoothing parameter κ and augments a discrete-time CBF with a fixed robust margin to eliminate contact force violations in smoothed implicit dynamics simulations.
Contact-implicit trajectory optimization using orthogonal colloca- tion,
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Safety-Critical Control for Smoothed Implicit Contact Dynamics
Introduces boundary-focused rollouts to screen the smoothing parameter κ and augments a discrete-time CBF with a fixed robust margin to eliminate contact force violations in smoothed implicit dynamics simulations.