Lifted contact dynamics for efficient optimal control of rigid body systems with contacts.
Sotaro KatayamaToshiyuki OhtsukaPublished in: IROS (2022)
Keyphrases
- optimal control
- rigid body
- dynamic programming
- control strategy
- control problems
- motion parameters
- class of nonlinear systems
- feedback control
- least squares
- infinite horizon
- continuous stirred tank reactor
- machine learning
- rigid body motion
- rotation and translation
- rigid objects
- dynamical systems
- control system
- viewpoint
- reinforcement learning