DMOC-based robot trajectory optimization with analytical first-order information

DOI10.61822/AMCS-2025-0007MaRDI QIDQ6965745zbMATH OpenFDO

Authors Carla Villanueva-Piñon, Gustavo Arechavaleta

Publication date 30 June 2025

Published in International Journal of Applied Mathematics and Computer Science (Search for Journal in Brave)

Copyright license Creative Commons Attribution-NonCommercial-NoDerivs 3.0 Unported

Full work available at URL https://doi.org/10.61822/AMCS-2025-0007

zbMATH Keywords

discrete mechanics and optimal controlhumanoid robot motionsvariational integrators

Mathematics Subject Classification ID

Numerical methods in optimal control (49M99) Automated systems (robots, etc.) in control theory (93C85)

Cites work

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• scientific article; zbMATH DE number 3850933 (Why is no real title available?)
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• Robot Dynamics Algorithms

Cited in

(1)

• Trajectory optimization for highly articulated robots based on sparsity-free local direct collocation

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