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Decoupled limbs yield differentiable trajectory outcomes through intermittent contact in locomotion and manipulation
September 13, 2016 Β· Declared Dead Β· π IEEE International Conference on Robotics and Automation
"No code URL or promise found in abstract"
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Authors
Andrew Pace, Samuel A. Burden
arXiv ID
1609.04056
Category
cs.RO: Robotics
Citations
5
Venue
IEEE International Conference on Robotics and Automation
Last Checked
4 months ago
Abstract
When limbs are decoupled, we find that trajectory outcomes in mechanical systems subject to unilateral constraints vary differentiably with respect to initial conditions, even as the contact mode sequence varies.
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