can be solved by solving an equivalent linear complementarity problem when H is positive semidefinite. The approach is outlined in the discussion of the LCP subroutine in Chapter 17, "Language ...
Abstract: Repetitive motion planning (RMP), obstacle avoidance (OA), and joint-limit avoidance (JLA) are essential for ensuring the positioning accuracy and safe operations of joint-constrained ...
Abstract: The promise of model-predictive control (MPC) in robotics has led to extensive development of efficient numerical optimal control solvers in line with differential dynamic programming ...
The DNLP package is an extension of CVXPY to general nonlinear programming (NLP). DNLP allows smooth functions to be freely mixed with nonsmooth convex and concave functions, with some rules governing ...
Incremental Potential Contact (IPC) is for robust and accurate time stepping of nonlinear elastodynamics. IPC guarantees intersection- and inversion-free trajectories regardless of materials, ...
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