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Contact Implicit Trajectory Optimization Using Contact Implicit Trajectory Optimization Using Information Guide

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Overview on Contact Implicit Trajectory Optimization Using Contact Implicit Trajectory Optimization Using

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Supplemental video for ICRA 2021 paper: Yifan Zhu, Zherong Pan, and Kris Hauser. Full paper and additional information available at Publication: " Paper: Code and more: Abstract - Robots must make and break In this paper we propose a method to improve the accuracy of Video for our IEEE Robotics and Automation Letters (RA-L) 2025 paper: " Presentation for IROS 2023 paper: Michael R. Turski, Joseph Norby, and Aaron M. Johnson. "Staged

Simulation vs. experimental results are demonstrated for three non-prehensile manipulation tasks of increasing complexity: (1) ... This video presents our work on robust extrinsic dexterity. In particular, we show a novel method for computing robust Planning locomotion strategies for legged microrobots is challenging due to their complex morphology, high frequency passive ... This video summarizes our work on discovering complex Paper, video, open-source code, slides and more: Intro: 00:29 - Why Legged Robots? 01:15 - Context of ... In this video we present our project physics driven data generation for

Important Facts

Contact-Implicit Trajectory Optimization with Learned Deformable Contacts, ICRA 2021 Profile
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Celebrity Contact-Implicit Trajectory Optimization with Hydroelastic Contact and iLQR Profile
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Trajectory Optimization with Implicit Hard Contacts
Inverse Dynamics Trajectory Optimization for Contact-Implicit Model Predictive Control
Towards Tuning-Free Contact-Implicit Trajectory Optimization
Contact-Implicit Trajectory Optimization using Orthogonal Collocation
Contact-Implicit Whole-Body Trajectory Optimization for Dynamic Humanoid Locomotion
Staged Contact Optimization: Combining Contact-Implicit and Multi-Phase Hybrid Trajectory Opt.
An Experimental Validation of Contact-Implicit Trajectory Optimization for Manipulation
Introduction to Trajectory Optimization
Robust Pivoting Manipulation using Contact Implicit Bilevel Optimization
Contact Implicit Optimization of Locomotion Trajectories for a Quadrupedal Microrobot
Contact-implicit optimization for a robot manipulation task (Flicking finger)
A Comparative Analysis of Contact Models in Trajectory Optimization for Manipulation

Deep Dive

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Last Updated: June 13, 2026

Summary

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Media Gallery

Contact-Implicit Trajectory Optimization with Learned Deformable Contacts, ICRA 2021
Contact-Implicit Trajectory Optimization with Hydroelastic Contact and iLQR
Contact-Implicit Trajectory Optimization using an Analytically Solvable Contact Model
Trajectory Optimization with Implicit Hard Contacts
Inverse Dynamics Trajectory Optimization for Contact-Implicit Model Predictive Control
Towards Tuning-Free Contact-Implicit Trajectory Optimization
Contact-Implicit Trajectory Optimization using Orthogonal Collocation
Contact-Implicit Whole-Body Trajectory Optimization for Dynamic Humanoid Locomotion