Inverse Dynamics vs. Forward Dynamics in Direct Transcription Formulations for Trajectory Optimization

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Authors: Henrique Ferrolho; Vladimir Ivan; Wolfgang Merkt; Ioannis Havoutis; Sethu Vijayakumar

Journal title: 2021 IEEE International Conference on Robotics and Automation

Journal number: 3

Journal publisher: IEEE

Published year: 2021

Published pages: 12752-12758

DOI identifier: 10.1109/icra48506.2021.9561306

ISSN: 1050-4729