Fast interpolation and time-optimization with contact

  title={Fast interpolation and time-optimization with contact},
  author={Kris K. Hauser},
  journal={I. J. Robotics Res.},
This paper presents a method for generating dynamically feasible, keyframe-interpolating motions for robots undergoing contact, such as in legged locomotion and manipulation. The first stage generates a twice-differentiable interpolating path that obeys kinematic contact constraints up to a user-specified tolerance. The second stage optimizes speeds along the path to minimize time while satisfying dynamic constraints. The method supports velocity, acceleration, and torque constraints, and… CONTINUE READING
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