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cs.RO2022
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…
cs.RO2022
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…