A manipulation-planning framework that solves an optimal control problem over projected, complementarity-based contact dynamics, demonstrated on planar pushing with friction and ellipsoidal objects.
A projected dy- namical systems model of general financial equilibrium with stability analysis
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Towards Solutions of Manipulation Tasks via Optimal Control of Projected Dynamical Systems
A manipulation-planning framework that solves an optimal control problem over projected, complementarity-based contact dynamics, demonstrated on planar pushing with friction and ellipsoidal objects.