27 citations · 27 across the 6 of their papers we have counts for
6 papers
Multi-Shooting Differential Dynamic Programming for Hybrid Systems using Analytical Derivatives
Shubham Singh, Ryan P. Russell, Patrick M. Wensing
Differential Dynamic Programming (DDP) is a popular technique used to generate motion for dynamic-legged robots in the recent past. However, in most cases, only the first-order par…
On Second-Order Derivatives of Rigid-Body Dynamics: Theory & Implementation
Shubham Singh, Ryan P. Russell, Patrick M. Wensing
Model-based control for robots has increasingly been dependent on optimization-based methods like Differential Dynamic Programming and iterative LQR (iLQR). These methods can form…
Analytical Second-Order Partial Derivatives of Rigid-Body Inverse Dynamics
Shubham Singh, Ryan P. Russell, Patrick M. Wensing
Optimization-based robot control strategies often rely on first-order dynamics approximation methods, as in iLQR. Using second-order approximations of the dynamics is expensive due…
Details of Second-Order Partial Derivatives of Rigid-Body Inverse Dynamics
Shubham Singh, Ryan P. Russell, Patrick M. Wensing
The details of second-order partial derivatives of rigid-body Inverse/Forward dynamics are provided. Several properties and identities using Spatial Vector Algebra are listed, alon…
A New Robust Network Slack Based Measure Model
Alka Arya, Shubham Singh
In real-life challenges, unforeseen and unknown occurrences commonly influence the data values, which may affect the performance of the problems. The performance of decision-making…
Efficient Analytical Derivatives of Rigid-Body Dynamics using Spatial Vector Algebra
Shubham Singh, Ryan P. Russell, Patrick M. Wensing
An essential need for many model-based robot control algorithms is the ability to quickly and accurately compute partial derivatives of the equations of motion. State of the art ap…