An essential need for many model-based robot control algorithms is the ability to quickly and
accurately compute partial derivatives of the equations of motion. State of the art approaches …

Model-based control for robots has increasingly depended on optimization-based methods,
such as differential dynamic programming (DDP) and iterative LQR (iLQR). These methods …

The reliability and dynamic performance of deployable flexible space structures significantly
depend on their key design parameters. Sensitivity analysis of these design parameters in …

This paper presents a joint–coordinate adjoint method for optimal control of multi-rigid-body
systems. Initially formulated as a set of differential-algebraic equations, the adjoint system is …

Mobile robotic platforms which are traversing unstructured environments with challenging
uneven terrain are permanently endangered of falling over. Previous research on trajectory …

A common challenge for autonomous mobile ground robots in unstructured environments is
the traversal of obstacles without risking to tip over. Previous research on prevention of …

Mechatronics virtual debugging technology has an important application prospect in the
Industry 4.0 era, which is conducive to the optimization of automobile mechanisms. In order …

In the past few years, trajectory optimization has increasingly been used for motion planning
in dynamic-legged robots, like humanoids, quadrupeds, and manipulators. Optimization …

The reliability and dynamic performance of deployable flexible space structures significantly
depend on their key design parameters. Sensitivity analysis of these design parameters in …

The aims of this thesis are the investigation and development of numerical methods for the
whole-body motion generation of humanoid robots based on nonlinear model predictive …