@incollection {pub4325,
	title = {Multi-mode Trajectory Optimization for Impact-aware Manipulation},
	author = {Theodoros	 Stouraitis AND Lei Yan AND Joao Moura AND Michael Gienger AND Sethu Vijayakumar},
	year = {2020},
	month = {July},
	abstract = {This is a workshop paper based on the publication pub-4275.

The transition from free motion to contact is a
challenging problem in robotics, in part due to its hybrid nature.
Yet, disregarding the effects of impacts at the motion planning
level might result in intractable impulsive contact forces. In
this paper, we introduce an impact-aware multi-mode trajectory
optimization (TO) method that comprises both hybrid dynamics
and hybrid control in a coherent fashion. A key concept is the
incorporation of an explicit contact force transmission model in
the TO method. This allows the simultaneous optimization of the
contact forces, contact timings, continuous motion trajectories
and compliance, while satisfying task constraints. We compare
our method against standard compliance control and an impact-
agnostic TO method in physical simulations. Further, we experi-
mentally validate the proposed method with a robot manipulator
on the task of halting a large-momentum object.},
	publisher = {Online workshop},
	booktitle = {Robotics Science and Systems (RSS) Workshop: "Reacting to Contact: Enabling Transparent Interactions through Intelligent Sensing and Actuation"}
}