2 papers
cs.RO2020
Inverse Dynamics vs. Forward Dynamics in Direct Transcription Formulations for Trajectory Optimization
Henrique Ferrolho, Vladimir Ivan, Wolfgang Merkt +2
Benchmarks of state-of-the-art rigid-body dynamics libraries report better performance solving the inverse dynamics problem than the forward alternative. Those benchmarks encourage…
cs.RO2020
Optimizing Dynamic Trajectories for Robustness to Disturbances Using Polytopic Projections
Henrique Ferrolho, Wolfgang Merkt, Vladimir Ivan +2
This paper focuses on robustness to disturbance forces and uncertain payloads. We present a novel formulation to optimize the robustness of dynamic trajectories. A straightforward…