Robust Rigid Body Assembly via Contact-Implicit Optimal Control with Exact Second-Order Derivatives

Fuente: arXiv

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Bibliographic Details
Main Authors:	Dietz, Christian, Albrecht, Sebastian, Frison, Gianluca, Diehl, Moritz, Nurkanović, Armin
Format:	Preprint
Published:	2026
Subjects:	Robotics Optimization and Control G.1.6; I.6.0; J.2
Online Access:	Acceder al recurso
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Internet

https://arxiv.org/abs/2601.22849