Automatic differentiation

Automatic differentiation of rigid body dynamics for optimal control and estimation

Markus Giftthaler, Michael Neunert, Markus Stäuble, Marco Frigerio, Claudio Semini, Jonas Buchli

Citations: 54 • 2017

Theseus: A Library for Differentiable Nonlinear Optimization

Luis Villaseñor-Pineda, Taosha Fan, Maurizio Monge, Shobha Venkataraman, Paloma Sodhi, Ricky Chen, Joseph D. Ortiz, Daniel DeTone, Austin Wang, Stuart Anderson, Jing Dong, Brandon Amos, Mustafa Mukadam

Citations: 47 • 2022

Comparison of Automatic and Symbolic Differentiation in Mathematical Modeling and Computer Simulation of Rigid-Body Systems

Axel Dürrbaum, Willy Klier, H. Hahn

Citations: 26 • 2002

Automatic Differentiation on Differentiable Manifolds as a Tool for Robotics

Hannes Sommer, Cédric Pradalier, Paul Furgale

Citations: 16 • 2016

Functional automatic differentiation with dirac impulses

Henrik Nilsson

Citations: 16 • 2003

Mixed Use of Analytical Derivatives and Algorithmic Differentiation for NMPC of Robot Manipulators

Alejandro Astudillo, Justin Carpentier, Joris Gillis, Goele Pipeleers, Jan Swevers

Citations: 10 • 2021

PyROBOCOP: Python-based Robotic Control & Optimization Package for Manipulation

Arvind U. Raghunathan, Devesh K. Jha, Diego Romeres

Citations: 9 • 2022

Gradient‐based parameter optimization for systems containing discrete‐valued functions

Edward N. Wilson, Stephen M. Rock

Citations: 9 • 2002

Analytical method for differentiation of robot Jacobian

Jong-Myung Rhee, B. Lee

Citations: 6 • 2017

Efficient Derivative Evaluation for Rigid-Body Dynamics Based on Recursive Algorithms Subject to Kinematic and Loop Constraints

Manuel Kudruss, Paul Manns, Christian Kirches

Citations: 6 • 2019

PYROBOCOP : Python-based Robotic Control & Optimization Package for Manipulation and Collision Avoidance.

Arvind U. Raghunathan, Devesh K. Jha, Diego Romeres

Citations: 5 • 2021

Functional automatic differentiation with dirac impulses

Henrik Nilsson

Citations: 4 • 2003

Automatic Differentiation and Continuous Sensitivity Analysis of Rigid Body Dynamics

David Millard, Eric Heiden, Shubham Agrawal, Gaurav S. Sukhatme

Citations: 4 • 2020

Analytical differentiation of the articulated-body algorithm: a geometric multilinear approach

Alvaro Paz, Gustavo Arechavaleta

Citations: 3 • 2023

On the Usage of Analytically Computed Adjoint Gradients in a Direct Optimization for Time-Optimal Control Problems

Daniel Lichtenecker, Philipp Eichmeir, Karin Nachbagauer

Citations: 3 • 2024

Simultaneous computation of robot kinematics and differential kinematics with automatic differentiation

Dinesh K. Pai, T.H.S. Ser

Citations: 3 • 2002

Study on control method using automatic differentiation with application to monowheel robot

Bui Van Dinh, Yasutaka Fujimoto

Citations: 2 • 2014

Optimizing Automatic Differentiation with Deep Reinforcement Learning

Jamie Lohoff, Emre Neftci

Citations: 2 • 2024