Analytical Second-Order Derivatives of Rigid-Body Contact Dynamics: Application to Multi-Shooting DDP

Shubham Singh, Ryan P. Russell, Patrick M. Wensing. Analytical Second-Order Derivatives of Rigid-Body Contact Dynamics: Application to Multi-Shooting DDP. In 22nd IEEE-RAS International Conference on Humanoid Robots, Humanoids 2023, Austin, TX, USA, December 12-14, 2023. pages 1-8, IEEE, 2023. [doi]

Abstract

Abstract is missing.