Automatic differentiation of rigid body dynamics for optimal control and estimation

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Author
Giftthaler, Markuscc
Neunert, Michael
Stäuble, Markus
Frigerio, Marco
Semini, Claudio
Buchli, Jonas
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Date
2017-11
Type
    Conference Paper
Rights / license
In Copyright - Non-Commercial Use Permitted
Permanent link
https://doi.org/10.3929/ethz-b-000229843
Publication status
published
External links
Journal / series
Advanced Robotics
Volume
31(S 22)
Pages / Article No.
1225 - 1237
Publisher
Taylor & Francis
Event
International Conference on Simulation, Modeling, and Programming for Autonomous Robots (SIMPAR 2016), San Francisco, CA, USA, December 13–16, 2016
Subject
Rigid body dynamics; Trajectory optimization; Numerical optimal control; Automatic differentiation
Organisational unit
03965 - Buchli, Jonas (SNF-Professur) (ehem.) / Buchli, Jonas (SNF-Professur) (former)  
02284 - NFS Digitale Fabrikation / NCCR Digital Fabrication
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Citations
Cited 40 times in Scopus
ETH Bibliography
yes
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