Conference item
Inverse dynamics vs. Forward dynamics in direct transcription formulations for trajectory optimization
- Abstract:
-
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-body dynamics and their derivatives accounts for a significant share of computation time. In this work, we implement an optimization framework where both approaches for enforcing the system dynamics...
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- Publication status:
- Published
- Peer review status:
- Reviewed (other)
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Bibliographic Details
- Publisher:
- Institute of Electrical and Electronics Engineers Publisher's website
- Journal:
- Proceedings of the 2021 IEEE International Conference on Robotics and Automation (ICRA) Journal website
- Pages:
- 12752-12758
- Publication date:
- 2021-10-18
- Event title:
- 2021 IEEE International Conference on Robotics and Automation (ICRA)
- Event start date:
- 2021-05-30
- Event end date:
- 2021-06-05
- DOI:
- EISSN:
-
2577-087X
Item Description
- Language:
- English
- Keywords:
- Pubs id:
-
1242871
- Local pid:
- pubs:1242871
- Deposit date:
- 2022-03-09
Terms of use
- Copyright holder:
- IEEE
- Copyright date:
- 2021
- Rights statement:
- © Copyright 2021 IEEE - All rights reserved.
- Notes:
-
This is the accepted manuscript version of the article. The final version is available from IEEE at https://doi.org/10.1109/ICRA48506.2021.9561306
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