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Generalized Contact Constraints of Hybrid Trajectory optimization for Different Terrains and Analysis of Sensitivity to Randomized Initial Guesses

Kenneth Y. Chao, Pilwon Hur. Generalized Contact Constraints of Hybrid Trajectory optimization for Different Terrains and Analysis of Sensitivity to Randomized Initial Guesses. In 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2019, Macau, SAR, China, November 3-8, 2019. pages 1435-1440, IEEE, 2019. [doi]

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