Abstract: This letter presents approaches that reduce the computational demand of including second-order dynamics sensitivity information into optimization algorithms for robots in contact with the environment. A full second-order ...

Abstract: This article presents methods to efficiently compute the Coriolis matrix and underlying Christoffel symbols (of the first kind) for tree-structure rigid-body systems. The algorithms can be executed purely numerically, ...

Abstract: This article proposes a new framework for the computational design of robots that are robust to disturbances. The framework combines trajectory optimization (TO) and feedback control design to produce robots with improved ...