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Trajectory Optimization for Legged Robots with Slipping Motions
Contact-Implicit Trajectory Optimization with Learned Deformable Contacts, ICRA 2021
Trajectory Optimization and Control of Rigid Body System Through Contact
Simultaneous Trajectory Optimization and Contact Selection for Multi-Modal Manipulation Planning
Contact Implicit Optimization of Locomotion Trajectories for a Quadrupedal Microrobot
Contact-Implicit Trajectory Optimization using Orthogonal Collocation
An Experimental Validation of Contact-Implicit Trajectory Optimization for Manipulation
Optimal Control (CMU 16-745) - Lecture 12: Direct Trajectory Optimization Methods
6.8210 Spring 2024 Lecture 14: Hybrid Trajectory Optimization
Introduction to Trajectory Optimization
A Comparative Analysis of Contact Models in Trajectory Optimization for Manipulation
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Last Updated: August 23, 2026
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