Contact Trajectory Optimization
A personal project to implement Trajectory Optimization formulation as given in “Posa, M., Cantu, C., & Tedrake, R. (2014). A direct method for trajectory optimization of rigid bodies through contact. The International Journal of Robotics Research, 33(1), 69-81.”
Aditya Shirwatkar
PhD Student
My research interests include robotics (primarily legged), optimal control, and reinforcement learning.