Automatic Differentiation of Rigid Body Dynamics for Optimal Control and Estimation
Automatic Differentiation of Rigid Body Dynamics for Optimal Control and Estimation
Markus Giftthaler,M. Neunert,3 Authors,J. Buchli
2017 · DOI: 10.1080/01691864.2017.1395361
72 Citations
TLDR
Many algorithms for control, optimization and estimation in robotics depend on derivatives of the underlying system dynamics, e.g. to compute linearizations, sensitivities or gradient directions.
Abstract
Many algorithms for control, optimization and estimation in robotics depend on derivatives of the underlying system dynamics, e.g. to compute linearizations, sensitivities or gradient directions. H...