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function optimization Archives - Samuel Pfrommer

function optimization

Tutorial: Direct Collocation Trajectory Optimization with Matlab

Samuel Pfrommer August 29, 2016 4

In the previous tutorial, we focused on single shooting trajectory optimization, which involved time-discretizing the control input and simply integrating the dynamics. The desired end state was then added as […]

Tutorial: Single Shooting Trajectory Optimization with Matlab

Samuel Pfrommer July 21, 2016 4

Numerical methods for trajectory optimization have become increasingly popular for analyzing the motion of bipedal spring-mass walkers, whose complex nonlinear dynamics make analytical solutions often infeasible. When I began looking into trajectory […]