Volume 33 Issue 1 - Publication Date: January 2014

Quasi-static manipulation of a Kirchhoff elastic rod based on a geometric analysis of equilibrium configurations

Michael Posa, Cecilia Cantu and Russ Tedrake

A direct method for trajectory optimization of rigid bodies through contact 2013 33: 69–81

Downloadable Files

Animations of the various trajectories generated in Section 4. (28.9 mb)

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