arXiv:1609.04056
Decoupled limbs yield differentiable trajectory outcomes through intermittent contact in locomotion and manipulation
Decoupled limbs yield differentiable trajectory outcomes through intermittent contact in locomotion and manipulation
著者: Andrew Pace, Samuel A. Burden
分類: cs.RO
原文アブストラクト
When limbs are decoupled, we find that trajectory outcomes in mechanical systems subject to unilateral constraints vary differentiably with respect to initial conditions, even as the contact mode sequence varies.