Decoupled limbs yield differentiable trajectory outcomes through intermittent contact in locomotion and manipulation
Robotics
2017-05-25 v2
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.
Keywords
Cite
@article{arxiv.1609.04056,
title = {Decoupled limbs yield differentiable trajectory outcomes through intermittent contact in locomotion and manipulation},
author = {Andrew Pace and Samuel A. Burden},
journal= {arXiv preprint arXiv:1609.04056},
year = {2017}
}