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1-2 of 2 results for contact-implicit trajectory optimization

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Select article: Inverse dynamics trajectory optimization for contact-implicit model predictive control

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Research article

First published January, 2026

Inverse dynamics trajectory optimization for contact-implicit model predictive control

Vince Kurtz, Alejandro Castro, Aykut Özgün Önol [...]

The International Journal of Robotics Research

Select article: Contact-implicit trajectory optimization using variational integrators

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Research article

First published October, 2019

Contact-implicit trajectory optimization using variational integrators

Zachary Manchester, Neel Doshi, Robert J Wood [...]

The International Journal of Robotics Research

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