Lifted contact dynamics for efficient direct optimal control of rigid body systems with contacts.

Sotaro Katayama Toshiyuki Ohtsuka

Published in: CoRR (2021)

Keyphrases

optimal control
rigid body
control problems
feedback control
dynamic programming
optimal control problems
control strategy
three dimensional
viewpoint
machine learning
motion compensation
motion parameters
rotation and translation
class of nonlinear systems
continuous stirred tank reactor