Preprint
Oct 2026
LEAP: Gradient Flow Augmented Lagrangian Trajectory Optimization for Contact Constrained Robots
Generating dynamically feasible motions for legged and manipulating robots requires solving a large, nonlinear, non-convex optimal control problem (OCP) in which contact wrenches must satisfy friction-cone constraints throughout the motion, not only at isolated instants. Existing solvers are sensitive to the initial gu...
César E. Ramos Chuquiure, Ryan Tsai, Yu-Tong Zhou et al.
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