Inverse dynamics vs. Forward dynamics in direct transcription formulations for trajectory optimization
Benchmarks of state-of-the-art rigid-body dynamics libraries report better performance solving the inverse dynamics problem than the forward alternative. Those benchmarks encouraged us to question whether that computational advantage would translate to direct transcription, where calculating rigid-b...
| Main Authors: | , , , , |
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| Format: | Conference item |
| Language: | English |
| Published: |
Institute of Electrical and Electronics Engineers
2021
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