Implicit Differential Dynamic Programming
Wilson Jallet,Nicolas Mansard,Justin Carpentier,Wilson Jallet,Nicolas Mansard,Justin Carpentier
Over the past decade, the Differential Dynamic Programming (DDP) method has gained in maturity and popularity within the robotics community. Several recent contributions have led to the integration of constraints within the original DDP formulation, hence enlarging its domain of application while making it a strong and easy-to-implement competitor against alternative methods of the state of the ar...
