Abstract: The accuracy of the geometric and dynamic models for robots and humans is crucial for simulation, control, and motion analysis. For example, joint torque, which is a function of geometric ...

Machine learning is an essential component of artificial intelligence. Whether it’s powering recommendation engines, fraud detection systems, self-driving cars, generative AI, or any of the countless ...

Abstract: Differential dynamic programming (DDP) is a popular technique for solving nonlinear optimal control problems with locally quadratic approximations. However, existing DDP methods are not ...

The following codes are for educational purpose only and not intended to be used / submitted as your own solutions. Cheating violates the Academic Honesty of the course, not to mention it's totally ...