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About

Wolfgang Steiner’s research lies at the intersection of multibody dynamics, optimal control, and robotics, with a particular focus on developing efficient numerical methods for complex mechanical systems. His most influential contribution is the application of the adjoint method to solve a wide range of optimization problems—from inverse dynamics and parameter identification to time-optimal control with final constraints. His seminal 2014 paper on this topic has garnered 72 citations, establishing a foundation for subsequent work. Steiner has advanced the field by tackling challenging problems such as rest-to-rest maneuvers in robotics and even extraterrestrial trajectory planning, including a novel approach for time-optimal control of a moon landing covering ascent, descent, and abort scenarios. His 2020 work on time-optimal control under end conditions (12 citations) further demonstrates his ability to bridge theory and practical application. More recently, Steiner has explored the often-misunderstood role of jerk in structural dynamics, bringing clarity to an area prone to misinterpretation. His 2025 paper extends the adjoint method to free end-time problems, showcasing his ongoing commitment to pushing the boundaries of optimal control in multibody systems.