Abstract:Abstract. In this paper we propose a strategy for improving the computational efficiency of direct methods for trajectory optimization of multibody systems. We particularly focus on those applications where the system necessarily has to interact with the surrounding environment through intermittent contacts. The problem is hereby formulated such that just the initial and final states of the system over a given time interval are prescribed, so as to let the solver automatically synthesize the best contact seque… Show more
scite is a Brooklyn-based organization that helps researchers better discover and understand research articles through Smart Citations–citations that display the context of the citation and describe whether the article provides supporting or contrasting evidence. scite is used by students and researchers from around the world and is funded in part by the National Science Foundation and the National Institute on Drug Abuse of the National Institutes of Health.