We present CasADi, an open-source software framework for numerical optimization. CasADi
is a general-purpose tool that can be used to model and solve optimization problems with a …

We present a contact planner for complex legged locomotion tasks: standing up, climbing
stairs using a handrail, crossing rubble, and getting out of a car. The need for such a planner …

Constrained trajectory optimization has been a critical component in the development of
advanced guidance and control systems. An improperly planned reference trajectory can be …

Dexterous manipulation tasks often require contact switching, where fingers make and break
contact with the object. We propose a method that plans trajectories for dexterous …

Nuclear energy will play a critical role in meeting clean energy targets worldwide. However,
nuclear environments are dangerous for humans to operate in due to the presence of highly …

Most animal and human locomotion behaviors for solving complex tasks involve dynamic
motions and rich contact interaction. In fact, complex maneuvers need to consider dynamic …

In this paper, we propose a contact-implicit trajectory optimization (CITO) method based on a
variable smooth contact model (VSCM) and successive convexification (SCvx). The VSCM …

We present a contact-implicit planning approach that can generate contact-interaction
trajectories for non-prehensile manipulation problems without tuning or a tailored initial …

In this letter, we propose a two-stage strategy for optimal control problems of robotic
mechanical systems that proves to be more robust, and yet more efficient, than …

We present a contact-implicit trajectory optimization framework that can plan contact-
interaction trajectories for different robot architectures and tasks using a trivial initial guess …