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04/25/2023
How to design, and tune, a computed torque controller: An introduction and a Matlab example
This note briefly introduces the computed torque control method for traj...
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04/25/2023
Direct Collocation Methods for Trajectory Optimization in Constrained Robotic Systems
Direct collocation methods are powerful tools to solve trajectory optimi...
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02/17/2023
Collocation methods for second and higher order systems
It is often unnoticed that the predominant way to use collocation method...
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02/17/2023