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Contact-Implicit Trajectory Optimization with Learned Deformable Contacts, ICRA 2021
Contact-Implicit Trajectory Optimization using Orthogonal Collocation
Trajectory Optimization and Control of Rigid Body System Through Contact
Contact Implicit Optimization of Locomotion Trajectories for a Quadrupedal Microrobot
An Experimental Validation of Contact-Implicit Trajectory Optimization for Manipulation
6.8210 Spring 2024 Lecture 14: Hybrid Trajectory Optimization
Simultaneous Trajectory Optimization and Contact Selection for Multi-Modal Manipulation Planning
Tutorial: Gait and Trajectory Optimization for Legged Robots
A Comparative Analysis of Contact Models in Trajectory Optimization for Manipulation
Locomotion Planning through a Hybrid Bayesian Trajectory Optimization
Contact-implicit optimization for a robot manipulation task (Flicking finger)
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Last Updated: August 15, 2026
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