# Multi Contact (Rich) Locomotion

Collection of papers related to specific research on
Multi Contact (Rich) Locmotion

## Control

### Classical based
1. Fast Contact-Implicit Model-Predictive Control (T-RO 2023)
2. Multi-contact MPC for Dynamic Loco-manipulation on Humanoid Robots (ACC 2023)
3.
4. Quasistatic contact-rich manipulation via linear complementarity quadratic programming (IROS 2022)
5. Contact Optimization for Non-Prehensile Loco-Manipulation via Hierarchical Model Predictive Control (arxiv 2022)
6. Chance-Constrained Optimization in Contact-Rich Systems for Robust Manipulation (arxiv 2022)
7. **Contact-Implicit Differential Dynamic Programming for Model Predictive Control with Relaxed Complementarity Constraints (IROS 2022)**
8. Crocoddyl: An Efficient and Versatile Framework for Multi-Contact Optimal Control (ICRA 2020)
9. **Trajectory Optimization of Contact-Rich Motions Using Implicit Differential Dynamic Programming (RA-L 2021)**
10. Fast Multi-Contact Whole-Body Motion Planning with Limb Dynamics (Humanoids 2018)
11. Differential Dynamic Programming for Multi-Phase Rigid Contact Dynamics (Humanoids 2018)
12. Dynamic multi-contact transitions for humanoid robots using Divergent Component of Motion (ICRA 2017)
13. Multi-contact balancing of humanoid robots in confined spaces: Utilizing knee contacts (IROS 2017)
14. Toward whole-body loco-manipulation: Experimental results on multi-contact interaction with the Walk-Man robot (IROS 2016)
15. Passivity-based whole-body balancing for torque-controlled humanoid robots in multi-contact scenarios (IJRR 2016)
16. Physics-based trajectory optimization for grasping in cluttered environments (ICRA 2015)
17. Discovery of Complex Behaviors through Contact-Invariant Optimization (ACM Graphics 2012)
18. Contact-Invariant Optimization for Hand Manipulation (SIGGRAPH 2012)

### Learning based
1. ContactNet: Online Multi-Contact Planning for Acyclic Legged Robot Locomotion (arxiv 2022)
2. Real-Time Multi-Contact Model Predictive Control via ADMM (ICRA 2022)
3. Deep Reinforcement Learning for Multi-contact Motion Planning of Hexapod Robots (IJCAI 2021)
4. Uncertainty-aware Contact-safe Model-based Reinforcement Learning (RA-L ICRA 2020)
5. Stability-Guaranteed Reinforcement Learning for Contact-Rich Manipulation (RA-L 2020)
6. Local motion phases for learning multi-contact character movements (ACM Graphics 2020)
7. Learning Feasibility Constraints for Multi-contact Locomotion of Legged Robots (RSS 2017)

## Planning

### Classical
1. Multi-Contact Locomotion Planning With Bilateral Contact Forces Considering Kinematics and Statics During Contact Transition (RA-L 2021)
2. A Multi-Contact Motion Planning and Control Strategy for Physical Interation Tasks Using a Humanoid Robot (IROS 2020)
3. Multi-Contact Locomotion Planning for Humanoid Robot Based on Sustainable Contact Graph With Local Contact Modification (RA-L 2020)
4. Efficient Multicontact Pattern Generation With Sequential Convex Approximations of the Centroidal Dynamics (T-RO 2020)
5. C-CROC: Continuous and Convex Resolution of Centroidal Dynamic Trajectories for Legged Robots in Multicontact Scenarios (T-RO 2020)
6. Multi-Fidelity Receding Horizon Planning for Multi-Contact Locomotion (Humanoids 2020)
7. Sequential Trajectory Generation for Dynamic Multi-Contact Locomotion Synchronizing Contact (IJHR 2020)
8. CROC: Convex Resolution of Centroidal Dynamics Trajectories to Provide a Feasibility Criterion for the Multi Contact Planning Problem (IROS 2018)
9. Online 3D CoM Trajectory Generation for Multi-Contact Locomotion Synchronizing Contact (Humanoids 2018)
10. Contact-motion Planning Integrating Multiple Contact Transition Strategies and its Application to Slide Contact Motion for Humanoid Robot (JRSJ 2017)
11. A convex model of humanoid momentum dynamics for multi-contact motion generation (Humanoids 2016)

### Learning based
1. Learning to Guide Online Multi-Contact Receding Horizon Planning (IROS 2022)
2. Receding-Horizon Perceptive Trajectory Optimization for Dynamic Legged Locomotion with Learned Initialization (ICRA 2021)
3. Learning to steer a locomotion contact planner (ICRA 2021)
4. *~~Rapid Stability Margin Estimation for Contact-Rich Locomotion (IROS 2021)~~ (Not relevant)*
5. Efficient Humanoid Contact Planning using Learned Centroidal Dynamics Prediction (ICRA 2019)
6. A kinodynamic steering-method for legged multi-contact locomotion (IROS 2017)

## State Estimation
1. State Estimation in Contact-Rich Manipulation (ICRA 2019)

## Ideas
1. Contact-Implicit DDP Trees

###### tags: `StochLab`