Linear complementarity problem

A direct method for trajectory optimization of rigid bodies through contact

Michael Posa, Cecilia Cantu, Russ Tedrake

Citations: 608 • 2013

Soft Finger Model with Adaptive Contact Geometry for Grasping and Manipulation Tasks

Matei Ciocarlie, Claire Lackner, Peter Allen

Citations: 100 • 2007

Direct Trajectory Optimization of Rigid Body Dynamical Systems through Contact

Michael Posa, Russ Tedrake

Citations: 97 • 2013

Hybrid Modelling and Control of Obstacle-Aided Snake Robot Locomotion

Pål Liljebäck, Kristin Y. Pettersen, Øyvind Stavdahl, Jan Tommy Gravdahl

Citations: 69 • 2010

On the rigid body displacements and rotations in unilateral contact problems and applications

Georgios Ε. Stavroulakis, P. D. Panagiotopoulos, A.M. Al-Fahed

Citations: 52 • 1991

Soft robots locomotion and manipulation control using FEM simulation and quadratic programming

Eulalie Coevoet, Adrien Escande, Christian Duriez

Citations: 38 • 2019

Robot Hand Grasping and Related Problems: Optimal Control and Identification

P. D. Panagiotopoulos, A.M. Al-Fahed

Citations: 35 • 1994

A complementarity approach to a quasistatic multi-rigid-body contact problem

Jong‐Shi Pang, Jeffrey C. Trinkle, Grace H. Lo

Citations: 33 • 1996

Hard and Soft Fingered Robot Grippers. The Linear Complementarity Approach

A.M. Al-Fahed, Georgios Ε. Stavroulakis, P. D. Panagiotopoulos

Citations: 32 • 1991

Contact-Implicit Trajectory Optimization Using an Analytically Solvable Contact Model for Locomotion on Variable Ground

Iordanis Chatzinikolaidis, Yangwei You, Zhibin Li

Citations: 29 • 2020

Extensive analysis of Linear Complementarity Problem (LCP) solver performance on randomly generated rigid body contact problems

Evan Drumwright, Dylan A. Shell

Citations: 25 • 2012

Understanding the difference between prox and complementarity formulations for simulation of systems with contact

Thorsten Schindler, Binh P. Nguyen, Jeff Trinkle

Citations: 22 • 2011

A Neural Network Approach to the Frictionless Grasping Problem

A.M. Al-Fahed Nuseirat

Citations: 13 • 2000

Multifingered frictional robot grippers: A new type of numerical implementation

A.M. Al-Fahed, P.D. Panagiotopulos

Citations: 9 • 1992

Contribution to the modeling of nonsmooth multipoint contact dynamics of biped locomotion—Theory and experiments

Aleksandar Rodić, Miomir Vukobratović, Khalid Addi, Georges Dalleau

Citations: 9 • 2007

Optimal control strategy for high jump based on complementarity modeling

Tsutomu Yokozawa, Shinji Hara, Masato Ishikawa

Citations: 8 • 2002

Contact forces computation in a 3D bipedal robot using constrained-based and penalty-based approaches

Yannick Aoustin, Franck Plestan, Christine Chevallereau

Citations: 7 • 2011

A hybrid model of obstacle-aided snake robot locomotion

Pål Liljebäck, Kristin Y. Pettersen, Øyvind Stavdahl, Jan Tommy Gravdahl

Citations: 7 • 2010

Set-Valued Rigid Body Dynamics for Simultaneous Frictional Impact.

Mathew Halm, Michael Posa

Citations: 7 • 2021

Transition Motion Planning for Multi-Limbed Vertical Climbing Robots Using Complementarity Constraints

Jingwen Zhang, Xuan Lin, Dennis Hong

Citations: 6 • 2021