Task Space Inverse Dynamics
This algorithm was proposed in "Prioritized motion–force control of constrained fully-actuated robots-Task Space Inverse Dynamics" by A. D. Prete (RAS 2014)
Multi-shooting DDP
This algorithm was proposed in "A Family of Iterative Gauss-Newton Shooting Methods for Nonlinear Optimal Control" by M. Giftthaler (IROS 2018)
Foot Trajectory Generation
This algorithm was proposed in "Collision avoidance based on separating planes for feet trajectory " by S. Brossette (Humanoid 2017)
Constraint LQR
This algorithm was proposed in "Efficient Computation of Feedback Control for Constrained Systems" by F. Laine (ICRA 2019)
Constraint DDP
This algorithm was proposed in "Differential dynamic programming with nonlinear constraints " by Z. Xie (ICRA 2017)
