High-order differential dynamics

Accurate dynamics model is essential for predicting future behavior and optimizing control actions over a finite time horizon. The analytical computation of the robot dynamics becomes availabe recently [1], [2], [3]. By accurately modeling the robot dynamics and accounting for higher-order effects, we expect the controller can better handle disturbances and uncertainties in the system. This can lead to more stable and reliable control performance, even in challenging operating conditions.

[1] R. Budhiraja, J. Carpentier, C. Mastalli, and N. Mansard, “Differential dynamic programming for multi-phase rigid contact dynamics,” in IEEE-RAS Intern. Conf. on Humanoid Robots, 2018, pp. 1–9.

[2] J. Carpentier and N. Mansard, “Analytical derivatives of rigid body dynamics algorithms,” in Robotics: Science and systems (RSS 2018), 2018.

[3] V. Samy, K. Ayusawa, and E. Yoshida, “Generalized comprehensive motion theory for high-order differential dynamics.” in Robotics: Science and Systems, 2021.