Quasi-static Planning Through Contact
Contact-rich planning experiments for quasi-static pushing with contact smoothing analysis.
Final project for 16-745 at CMU on quasi-static planning through contact.
Successful Examples
In these demos, the ball has no pre-specified trajectory and finds the contact plans via trajectory optimization on the smoothed contact dynamics directly.
Contact Smoothing: Force at a Distance and Reducing Rho
Examples of how the contact smoothing behavior impacts the dynamics, contact smoothing is iteratively reduced over trials.
