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Towards Tuning-Free Contact-Implicit Trajectory Optimization
Contact-Implicit Trajectory Optimization with Learned Deformable Contacts, ICRA 2021
Orthogonal Collocation Example Problem
Inverse Dynamics Trajectory Optimization for Contact-Implicit Model Predictive Control
Robotics Lec 13a: Trajectory optimization using Collocation (part 1 of 2) (Fall 2022)
Direct Collocation Methods for Trajectory Optimization in Constrained Robotic Systems
Contact-Implicit Trajectory Optimization using an Analytically Solvable Contact Model
Staged Contact Optimization: Combining Contact-Implicit and Multi-Phase Hybrid Trajectory Opt.
Orthogonal Collocation on Finite Elements
Direct Collocation Methods for Trajectory Optimization in Constrained Robotic Systems
Contact Implicit Optimization of Locomotion Trajectories for a Quadrupedal Microrobot
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Last Updated: August 14, 2026
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