Abstract: In this technical brief, we focus on solving trajectory optimization problems that have nonlinear system dynamics and that include high-order derivatives in the objective function. This type of problem comes up in robotics—for ...

Abstract: Sagittal bone saws are used by orthopedic surgeons for resection of bone; for example in total joint arthroplasty of the hip and knee. In order to prevent damage to surrounding tissue, sagittal saw blades typically oscillate ...