Aykut Özgun Önol — accepted AI-conference papers

2020

Tuning-Free Contact-Implicit Trajectory Optimization

Aykut Özgun Önol, Radu Corcodel, Philip Long, Taşkın Padır

ICRA 2020poster

We present a contact-implicit trajectory optimization framework that can plan contact-interaction trajectories for different robot architectures and tasks using a trivial initial guess and without requiring any parameter tuning. This is achieved by using a relaxed contact model along with an automat…

Cited by 21 Source ↗Scholar ↗

2019

Contact-Implicit Trajectory Optimization Based on a Variable Smooth Contact Model and Successive Convexification

Aykut Özgun Önol, Philip Long, Taşkın Padır

ICRA 2019poster

In this paper, we propose a contact-implicit trajectory optimization (CITO) method based on a variable smooth contact model (VSCM) and successive convexification (SCvx). The VSCM facilitates the convergence of gradient-based optimization without compromising physical fidelity. On the other hand, the…

Cited by 38 Source ↗Scholar ↗