ROSep 13, 2016
Decoupled limbs yield differentiable trajectory outcomes through intermittent contact in locomotion and manipulation
arXiv:1609.04056v25 citations
Originality Synthesis-oriented
AI Analysis
This addresses challenges in locomotion and manipulation for robotics, but appears incremental as it builds on existing concepts of decoupling and differentiability.
The paper tackled the problem of trajectory outcomes in mechanical systems with unilateral constraints, finding that decoupling limbs leads to differentiable outcomes with respect to initial conditions, even when contact mode sequences vary.
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.