Decoupled limbs yield differentiable trajectory outcomes through intermittent contact in locomotion and manipulation

TL;DR

This paper demonstrates that in mechanical systems with decoupled limbs, trajectory outcomes depend differentiably on initial conditions despite changes in contact mode sequences, impacting locomotion and manipulation.

Contribution

It reveals that decoupled limbs produce differentiable trajectory outcomes through intermittent contact, a novel insight into contact dynamics in mechanical systems.

Findings

Trajectory outcomes are differentiable with respect to initial conditions.

Decoupled limbs allow smooth variation of outcomes despite contact mode changes.

Implications for control and design of robotic systems with intermittent contact.

Abstract

When limbs are decoupled, we find that trajectory outcomes in mechanical systems subject to unilateral constraints vary differentiably with respect to initial conditions, even as the contact mode sequence varies.