1. Inverse dynamics‐based formulation of finite horizon optimal control problems for rigid‐body systems. (7th June 2021) Authors: Katayama, Sotaro; Ohtsuka, Toshiyuki Journal: Optimal control applications and methods Issue: Volume 42:Number 6(2021) Page Start: 1632 Record Type: Journal Article View Content: Available online (eLD content is only available in our Reading Rooms) ↗