Abstract:We propose a formulation of the finite horizon optimal control problem (FHOCP) based on inverse dynamics for general open-chain rigid-body systems, which reduces the computational cost from the conventional formulation based on forward dynamics. We regard the generalized acceleration as a decision variable and inverse dynamics as an equality constraint. To treat under-actuated systems with inverse dynamics that are well defined only to fully actuated systems, that is, to consider passive joints in this FHOCP, … Show more
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