Efficient Analytical Derivatives of Rigid-Body Dynamics using Spatial Vector Algebra

11 May 2021

Papers citing "Efficient Analytical Derivatives of Rigid-Body Dynamics using Spatial Vector Algebra"

14 / 14 papers shown

Title
Control of Humanoid Robots with Parallel Mechanisms using Kinematic Actuation Models Victor Lutz Ludovic de Matteïs Virgile Batto Nicolas Mansard 37 0 0 28 Mar 2025
Analytical Derivatives for Efficient Mechanical Simulations of Hybrid Soft Rigid Robots A. Mathew F. Boyer Vincent Lebastard F. Renda 24 0 0 07 Nov 2024
Multi-Contact Inertial Parameters Estimation and Localization in Legged Robots Sergi Martinez Robert J. Griffin Carlos Mastalli 29 2 0 25 Mar 2024
Efficient Lexicographic Optimization for Prioritized Robot Control and Planning Kai Pfeiffer A. Kheddar 27 0 0 14 Mar 2024
Cafe-Mpc: A Cascaded-Fidelity Model Predictive Control Framework with Tuning-Free Whole-Body Control He Li Patrick M. Wensing 39 12 0 06 Mar 2024
Multi-contact Stochastic Predictive Control for Legged Robots with Contact Locations Uncertainty Ahmad Gazar Majid Khadiv Andrea Del Prete Ludovic Righetti 16 6 0 08 Sep 2023
Inverse Dynamics Trajectory Optimization for Contact-Implicit Model Predictive Control Vince Kurtz Alejandro Castro Aykut Özgün Önol Hai Lin 42 15 0 04 Sep 2023
Multi-Shooting Differential Dynamic Programming for Hybrid Systems using Analytical Derivatives Shubham Singh R. Russell Patrick M. Wensing 8 0 0 24 Jul 2023
On Second-Order Derivatives of Rigid-Body Dynamics: Theory & Implementation Shubham Singh R. Russell Patrick M. Wensing 14 7 0 12 Feb 2023
Robust Bipedal Locomotion: Leveraging Saltation Matrices for Gait Optimization Maegan Tucker Noel Csomay-Shanklin Aaron D. Ames 13 3 0 21 Sep 2022
Differentiable Optimal Control via Differential Dynamic Programming Traiko Dinev Carlos Mastalli V. Ivan Steve Tonneau S. Vijayakumar 14 5 0 02 Sep 2022
Analytical Second-Order Partial Derivatives of Rigid-Body Inverse Dynamics Shubham Singh R. Russell Patrick M. Wensing 18 5 0 03 Mar 2022
Details of Second-Order Partial Derivatives of Rigid-Body Inverse Dynamics Shubham Singh R. Russell Patrick M. Wensing PINN 11 6 0 01 Mar 2022
GRiD: GPU-Accelerated Rigid Body Dynamics with Analytical Gradients Brian Plancher Sabrina M. Neuman Radhika Ghosal S. Kuindersma Vijay Janapa Reddi AI4CE PINN 40 15 0 14 Sep 2021