{"about":{"site":"https://codewithpapers.app","non_affiliation":"Code with Papers and Syntology are not affiliated with, endorsed by, or sponsored by Papers with Code, Meta, or the pwc-archive mirror.","licence":"CC BY-SA 4.0","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","attribution":"https://codewithpapers.app/attribution","modified":"archive material modified by Syntology; see the attribution page"},"url":"/paper/differential-dynamic-programming-for-multi","title":"Differential Dynamic Programming for Multi-Phase Rigid Contact Dynamics","arxiv_id":"1904.05072","date":"2019-04-10","proceeding":null,"authors":["Rohan Budhiraja","Justin Carpentier","Carlos Mastalli","Nicolas Mansard"],"abstract":"A common strategy today to generate efficient locomotion movements is to\nsplit the problem into two consecutive steps: the first one generates the\ncontact sequence together with the centroidal trajectory, while the second one\ncomputes the whole-body trajectory that follows the centroidal pattern. Yet the\nsecond step is generally handled by a simple program such as an inverse\nkinematics solver. In contrast, we propose to compute the whole-body trajectory\nby using a local optimal control solver, namely Differential Dynamic\nProgramming (DDP). Our method produces more efficient motions, with lower\nforces and smaller impacts, by exploiting the Angular Momentum (AM). With this\naim, we propose an original DDP formulation exploiting the Karush-Kuhn-Tucker\nconstraint of the rigid contact model. We experimentally show the importance of\nthis approach by executing large steps walking on the real HRP-2 robot, and by\nsolving the problem of attitude control under the absence of external forces.","url_abs":"http://arxiv.org/abs/1904.05072v1","url_pdf":"http://arxiv.org/pdf/1904.05072v1.pdf","source":{"archive":"pwc-archive (Hugging Face), CC BY-SA 4.0","snapshot":"2025-07-28","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","row_kind":"abstracts"},"code_links":[{"paper_slug":"differential-dynamic-programming-for-multi","repo_url":"https://github.com/loco-3d/crocoddyl","is_official":0,"mentioned_in_paper":0,"mentioned_in_github":0,"framework":"none","reach":{"status":"ok","spdx":"BSD-3-Clause"}}],"tasks":[],"methods":[],"datasets_introduced":[],"methods_introduced":[],"results":[],"syntology":{"atlas_url":null,"mcp":null,"developers":"https://syntology.ai/developers"},"arxiv_metadata":null,"syntology_extracted_results":null}