Collocation method

An Introduction to Trajectory Optimization: How to Do Your Own Direct Collocation

Matthew Kelly

Citations: 547 • 2017

A collocation method for real-time walking pattern generation

Thomas Buschmann, Sebastian Lohmeier, Mathias Bachmayer, Heinz Ulbrich, Friedrich Pfeiffer

Citations: 99 • 2007

Optimal Control of the Industrial Robot Manutec r3

Oskar von Stryk, M. Schlemmer

Citations: 92 • 1994

Contact-Implicit Trajectory Optimization Using Orthogonal Collocation

Amir Patel, Stacey Shield, Saif R. Kazi, Aaron M. Johnson, Lorenz T. Biegler

Citations: 72 • 2019

Embodied Footprints: A Safety-Guaranteed Collision-Avoidance Model for Numerical Optimization-Based Trajectory Planning

Bai Li, Youmin Zhang, Tantan Zhang, Tankut Acarman, Yakun Ouyang, Li Li, Hairong Dong, Dongpu Cao

Citations: 34 • 2023

Optimal control of a satellite-robot system using direct collocation with non-linear programming

Victoria Coverstone-Carroll, N.M. Wilkey

Citations: 27 • 1995

Efficient dynamic modeling, numerical optimal control and experimental results for various gaits of a quadruped robot

Oskar von Stryk

Citations: 16 • 2003

Direct Collocation for Dynamic Behaviors With Nonprehensile Contacts: Application to Flipping Burgers

Shishir Kolathaya, William Guffey, Ryan W. Sinnet, Aaron D. Ames

Citations: 14 • 2018

Solution of matching equations of IDA-PBC by Pfaffian differential equations

M. Reza J. Harandi, Hamid D. Taghirad

Citations: 14 • 2021

Direct multiple shooting and direct collocation perform similarly in biomechanical predictive simulations

Pierre Puchaud, François Bailly, Mickaël Begon

Citations: 11 • 2023

Path generation for flying robots in mountainous regions

Amirreza Kosari, Hossein Maghsoudi, Abolfazl Lavaei

Citations: 10 • 2016

Practical guide to solve the minimum-effort problem with geometric algorithms and B-Splines

Alvaro Paz, Gustavo Arechavaleta

Citations: 7 • 2019

A Legendre-Gauss Pseudospectral Collocation Method for Trajectory Optimization in Second Order Systems

Siro Moreno-Martín, Lluís Ros, Enric Celaya

Citations: 4 • 2022

Fast Approximation of Over-Determined Second-Order Linear Boundary Value Problems by Cubic and Quintic Spline Collocation

Philipp Seiwald, Daniel J. Rixen

Citations: 3 • 2020

Solving Cosserat Rod Models via Collocation and the Magnus Expansion

Andrew L. Orekhov, Nabil Simaan

Citations: 3 • 2020