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Towards Tuning-Free Contact-Implicit Trajectory Optimization
Contact-Implicit Trajectory Optimization using an Analytically Solvable Contact Model
Robotics Lec 13a: Trajectory optimization using Collocation (part 1 of 2) (Fall 2022)
Direct Collocation Methods for Trajectory Optimization in Constrained Robotic Systems
Orthogonal Collocation Example Problem
Direct Collocation Methods for Trajectory Optimization in Constrained Robotic Systems
Contact Implicit Optimization of Locomotion Trajectories for a Quadrupedal Microrobot
Inverse Dynamics Trajectory Optimization for Contact-Implicit Model Predictive Control
Staged Contact Optimization: Combining Contact-Implicit and Multi-Phase Hybrid Trajectory Opt.
Trajectory Optimization of Contact-rich Motions using Implicit Differential Dynamic Programming
An Experimental Validation of Contact-Implicit Trajectory Optimization for Manipulation
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Last Updated: August 16, 2026
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