27 citations · 27 across the 6 of their papers we have counts for
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cs.RO2023
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…
cs.RO2023
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…