Alert button
Picture for Andrew Pace

Andrew Pace

Alert button

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

Add code
Bookmark button
Alert button
May 23, 2017
Andrew Pace, Samuel A. Burden

Figure 1 for Decoupled limbs yield differentiable trajectory outcomes through intermittent contact in locomotion and manipulation
Figure 2 for Decoupled limbs yield differentiable trajectory outcomes through intermittent contact in locomotion and manipulation

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.

Viaarxiv icon
Github IconAccess Paper or Ask Questions
Twitter IconFacebook IconLinkedin IconWhatsapp IconMessenger Icon