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Legged robots are designed to perform highly dynamic motions. However, it remains challenging for users to retarget expressive motions onto these complex systems. In this paper, we present a Differentiable Optimal Control (DOC) framework that facilitates ...

In this paper we develop a novel optimal control framework for uncertain mechanical systems. Our work extends differential dynamic programming and handles uncertainty through generalized polynomial chaos (gPC) theory. The obtained scheme is able to ...

When a multistage system is transferred from one stage to the next one, it could be affected by some disturbance. This kind of system is called a multistage uncertain system if the disturbance is an uncertain factor. Based on the uncertainty theory and ...

We formulate a locally superlinearly convergent projected Newton method for constrained minimization in a Cartesian product of balls. For discrete-time,N-stage, input-constrained optimal control problems with Bolza objective functions, we then show how ...

The dynamic programming formulation of the forward principle of optimality in the solution of optimal control problems results in a partial differential equation with initial boundary condition whose solution is independent of terminal cost and terminal ...