@inproceedings {pub4275,
	title = {Impact-Aware Planning through Stiffness and Motion Optimization},
	author = {Theodoros	 Stouraitis AND Lei Yan AND Joao Moura AND Michael Gienger AND Sethu Vijayakumar},
	year = {2020},
	month = {October},
	abstract = {Motion plans for manipulation task include making and break of contact, as well as adjustments of the stiffness characteristics. These behaviours can be organized into different modes that represent different phases of the motion. The former are related with the discrete and distinct contact events, while the latter are relevant to the custom restrictions of each scenario. This paper presents the following contributions: a general and accurate contact model than both the impact model and the smooth contact model, the identification of appropriate computation form of the contact model in use, such that can be embedded in optimal control methods, a trajectory optimization formulation for motion planning that takes into account control interfaces, and a concept to optimize both stiffness and motion in one planning framework based on generic Non-linear Programming (NLP) methods.},
	publisher = {IEEE},
	booktitle = {IROS 2020}
}