Efficient solution method based on inverse dynamics for optimal control problems of rigid body systems
Sotaro Katayama Toshiyuki Ohtsuka Sotaro Katayama Toshiyuki Ohtsuka
We propose an efficient way of solving optimal control problems for rigid-body systems on the basis of inverse dynamics and the multiple-shooting method. We treat all variables, including the state, acceleration, and control input torques, as optimization variables and treat the inverse dynamics as an equality constraint. We eliminate the update of the control input torques from the linear equatio...