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We present a motion planning and control method for contact-rich full-body behaviors, particularly, the car egress task of the DARPA Robotics Challenge (DRC). We take advantage of human experience by manually specifying multiple task phases, each of which has a specific contact mode. Then, we optimize a sequence of static robot poses as well as contact locations that satisfy all constraints, such...
This paper presents a nonlinear controller based on a trajectory library. To generate the library, we combine two trajectory optimization methods: a parametric trajectory optimization method that finds coarse initial trajectories and Differential Dynamic Programming (DDP) that further refines these trajectories and generates linear local models of the optimal control laws. To construct a controller...
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