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Inverse Dynamics Trajectory Optimization for Contact-Implicit Model Predictive Control
Contact-Implicit Trajectory Optimization using Orthogonal Collocation
Contact-Implicit Trajectory Optimization with Learned Deformable Contacts, ICRA 2021
Simultaneous Trajectory Optimization and Contact Selection for Multi-Modal Manipulation Planning
Introduction to Trajectory Optimization
Contact-Implicit Result - 1 m Run, Minimal Time
Contact-implicit optimization for a robot manipulation task (Flicking finger)
Staged Contact Optimization: Combining Contact-Implicit and Multi-Phase Hybrid Trajectory Opt.
An Experimental Validation of Contact-Implicit Trajectory Optimization for Manipulation
Fast Interpolation and Time-Optimization on Implicit Contact Submanifolds
Neel Doshi: Contact-Implicit Optimization of Locomotion Trajectories for a Quadrupedal Microrobot
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Last Updated: August 17, 2026
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