Contact-Implicit Trajectory Optimization

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9 papers1 paper in the last four weeks, against 1 the four weeks before. 0.0% of all new papers.

  1. Autonomous Whole-body Loco-manipulation Using a Snake Robot

    Nov 6, 2026Adarsh Salagame, Henry Noyes, Haroon Hublikar +1Contact-Implicit Trajectory OptimizationRobotic Loco-Manipulation

    Department of Electrical and Computer Engineering, Northeastern University, Boston MA

  2. Contact-Implicit Whole-Body Trajectory Optimization for Dynamic Humanoid Locomotion on Parameterizable Uneven Terrain

    Nov 3, 2026Roberto Mauceri, Stefano Dafarra, Giulio Romualdi +2Contact-Implicit Trajectory OptimizationTrajectory Optimization

    Artificial and Mechanical Intelligence, Istituto Italiano di Tecnologia, 16163 Genoa, Italy. · Dept. of Computer Science, University of Manchester, Manchester M13 9PL, U.K. · Dept. of Civil and Industrial Engineering, University of Pisa, 56126 Pisa, Italy.

  3. DiffContact: Differentiable Contact Dynamics for Policy Learning and Contact-Implicit Trajectory Optimization

    Oct 26, 2026Gijeong Kim, Seungbin Oh, Dongyun Kang +1Contact-Implicit Trajectory OptimizationDifferentiable Physics

    The authors are with the Department of Mechanical Engineering, Korea Advanced Institute of Science and Technology, Daejeon 34141, South Korea.

  4. Contact-Implicit Stein Projected ADMM for Discovery of Diverse Contact-Rich Manipulation Strategies

    Sep 23, 2026Hrishikesh Sathyanarayan, Christian Hughes, Ian AbrahamContact-Implicit Trajectory OptimizationContact-Rich Robotic Manipulation

    Department of Mechanical Engineering, Yale University, New Haven, CT, USA. · Department of Electrical Engineering, University of Sydney, NSW, Australia.

  5. ContactIPM: A Structure-Exploiting Interior-Point Solver for Contact-Implicit Trajectory Optimization

    Aug 12, 2026Yucheng ChenPrimal-Dual OptimizationTrajectory Optimization

  6. Shooting for Contact: Contact-Implicit Multiple Shooting for Dynamic Motion Retargeting

    Aug 4, 2026Sergio A. Esteban, Jason H. K. Siu, Derrick Mach +4Trajectory OptimizationContact-Implicit Trajectory Optimization

    Department of Mechanical and Civil Engineering, California Institute of Technology, Pasadena, CA, USA. · School of Computing, DePaul University, Chicago, IL, USA.

  7. IMPACT: An Implicit Active-Set Augmented Lagrangian for Fast Contact-Implicit Trajectory Optimization

    May 9, 2026Jiayun Li, Dejian Gong, Georgia ChalvatzakiConstrained Motion PlanningTrajectory Optimization

    1PEARL Lab, Dept. of Computer Science, TU Darmstadt, Germany · 2Hessian.AI, Darmstadt, Germany · 3Robotics Institute Germany (RIG)

  8. GPU-Accelerated Continuous-Time Successive Convexification for Contact-Implicit Legged Locomotion

    Apr 11, 2026Samuel C. Buckner, Purnanand ElangoContact-Implicit Trajectory OptimizationTrajectory Optimization

    Department of Aeronautics and Astronautics, University of Washington, Seattle, WA 98195. · Mitsubishi Electric Research Laboratories, Cambridge, MA 02139.

  9. Unified Complementarity-Based Contact Modeling and Planning for Soft Robots

    Feb 24, 2026Milad Azizkhani, Yue ChenContact-Implicit Trajectory OptimizationSoft Robotics

    Woodruff School of Mechanical Engineering, Georgia Institute of Technology, Atlanta, GA, USA · Institute for Robotics and Intelligent Machines (IRIM), Georgia Institute of Technology, Atlanta, GA, USA · Coulter Department of Biomedical Engineering (Georgia Tech and Emory University), Georgia Institute of Technology, Atlanta, GA, USA