Accelerating Second-Order Differential Dynamic Programming for Rigid-Body Systems

4 March 2021

Papers citing "Accelerating Second-Order Differential Dynamic Programming for Rigid-Body Systems"

8 / 8 papers shown

Title
Accelerating Model Predictive Control for Legged Robots through Distributed Optimization Lorenzo Amatucci Giulio Turrisi Angelo Bratta Victor Barasuol Claudio Semini 24 6 0 18 Mar 2024
On Second-Order Derivatives of Rigid-Body Dynamics: Theory & Implementation Shubham Singh R. Russell Patrick M. Wensing 14 7 0 12 Feb 2023
Optimization-Based Control for Dynamic Legged Robots Patrick M. Wensing Michael Posa Yue Hu Adrien Escande Nicolas Mansard Andrea Del Prete 27 139 0 21 Nov 2022
Iterative Linear Quadratic Optimization for Nonlinear Control: Differentiable Programming Algorithmic Templates Vincent Roulet S. Srinivasa Maryam Fazel Zaïd Harchaoui 17 6 0 13 Jul 2022
Analytical Second-Order Partial Derivatives of Rigid-Body Inverse Dynamics Shubham Singh R. Russell Patrick M. Wensing 24 5 0 03 Mar 2022
Contact-Implicit Trajectory Optimization with Hydroelastic Contact and iLQR Vince Kurtz Hai Lin 19 15 0 28 Feb 2022
GRiD: GPU-Accelerated Rigid Body Dynamics with Analytical Gradients Brian Plancher Sabrina M. Neuman Radhika Ghosal S. Kuindersma Vijay Janapa Reddi AI4CE PINN 45 15 0 14 Sep 2021
Model Hierarchy Predictive Control of Robotic Systems He Li Robert J. Frei Patrick M. Wensing 42 47 0 17 Oct 2020