research
∙
07/24/2023
Multi-Shooting Differential Dynamic Programming for Hybrid Systems using Analytical Derivatives
Differential Dynamic Programming (DDP) is a popular technique used to ge...
share
research
∙
02/12/2023
On Second-Order Derivatives of Rigid-Body Dynamics: Theory Implementation
Model-based control for robots has increasingly been dependent on optimi...
research
∙
03/03/2022
Closed-Form Second-Order Partial Derivatives of Rigid-Body Inverse Dynamics
Optimization-based control methods for robots often rely on first-order ...
research
∙
03/01/2022
Details of Second-Order Partial Derivatives of Rigid-Body Inverse Dynamics
This document provides full details of second-order partial derivatives ...
research
∙
05/11/2021