Abstract: Contacts are central to most manipulation tasks as they provide additional dexterity to robots to perform challenging tasks. However, frictional contacts leads to complex complementarity ...

where $l$ and $u$ are the lower and upper probability bounds, while $\phi$ and $\psi$ denote propositional logic formulas. For example the following two sentences ...

Studying the Trajectory optimization technique (Direct Collocation) with three different representation of the dynamical system (the usual implicit form of dynamics, explicit form, and novel method ...