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Automatic differentiation of rigid body dynamics for optimal control and estimation

Markus Giftthaler, Michael Neunert, Markus Stäuble, Marco Frigerio, Claudio Semini, Jonas Buchli. Automatic differentiation of rigid body dynamics for optimal control and estimation. Advanced Robotics, 31(22):1225-1237, 2017. [doi]

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Markus Giftthaler

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Michael Neunert

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Markus Stäuble

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Marco Frigerio

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Claudio Semini

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Jonas Buchli

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