Decoupled limbs yield differentiable trajectory outcomes through intermittent contact in locomotion and manipulation

Andrew M. Pace; Samuel A. Burden

ICRA 2017poster9 citations

Decoupled limbs yield differentiable trajectory outcomes through intermittent contact in locomotion and manipulation

Abstract

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.

BibTeX

@inproceedings{icra2017_decoupledlimbsyi,
  title = {Decoupled limbs yield differentiable trajectory outcomes through intermittent contact in locomotion and manipulation},
  author = {Andrew M. Pace and Samuel A. Burden},
  booktitle = {ICRA 2017},
  year = {2017}
}