100 citations · 100 across the 7 of their papers we have counts for
3 papers · 1 filter
PV-OSIMr: A Lowest Order Complexity Algorithm for Computing the Delassus Matrix
Ajay Suresha Sathya, Wilm Decre, Jan Swevers
We present PV-OSIMr, an efficient algorithm for computing the Delassus matrix (also known as the inverse operational space inertia matrix) for a kinematic tree, with the lowest ord…
Efficient Constrained Dynamics Algorithms based on an Equivalent LQR Formulation using Gauss' Principle of Least Constraint
Ajay Suresha Sathya, Herman Bruyninckx, Wilm Decre +1
We derive a family of efficient constrained dynamics algorithms by formulating an equivalent linear quadratic regulator (LQR) problem using Gauss principle of least constraint and…
FATROP : A Fast Constrained Optimal Control Problem Solver for Robot Trajectory Optimization and Control
Lander Vanroye, Ajay Sathya, Joris De Schutter +1
Trajectory optimization is a powerful tool for robot motion planning and control. State-of-the-art general-purpose nonlinear programming solvers are versatile, handle constraints e…