Decoupled limbs yield differentiable trajectory outcomes through intermittent contact in locomotion and manipulation
classification
💻 cs.RO
keywords
contactdecoupledlimbsoutcomestrajectoryconditionsconstraintsdifferentiable
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When limbs are decoupled, we find that trajectory outcomes in mechanical systems subject to unilateral constraints vary differentiably with respect to initial conditions, even as the contact mode sequence varies.
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