publications

2024

1. Journal

   On Second-Order Derivatives of Rigid-Body Dynamics: Theory & Implementation

   Singh, Shubham, Russell, Ryan, and Wensing, Patrick

   IEEE Transactions on Robotics 2024

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2023

1. Conference

   Analytical Second-Order Derivatives of Rigid-Body Contact Dynamics: Application to Multi-Shooting DDP

   Singh, Shubham, Russell, Ryan, and Wensing, Patrick

   In IEEE Humanoids 2023

   Preprint

2022

1. Conference

   Analytical Second-Order Partial Derivatives of Rigid-Body Inverse Dynamics

   Singh, Shubham, Russell, Ryan, and Wensing, Patrick

   In IEEE IROS, Kyoto (Best Paper Award 2022 Finalist for IEEE TC on Model-Based Control) 2022

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2. Journal

   Efficient Analytical Derivatives of Rigid-Body Dynamics using Spatial Vector Algebra

   Singh, Shubham, Russell, Ryan, and Wensing, Patrick

   IEEE Robotics and Automation Letters (Honorable Mention for IEEE RA-L 2022) 2022

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2019

1. Conference

   Advancing the Runtime and Robustness of Differential Dynamic Programming

   Russell, Ryan, Singh, Shubham, and Wensing, Patrick

   In Workshop: Toward Online Optimal Control of Dynamic Robots, ICRA 2019

2018

1. Conference

   The use of Homotopy Analysis Method for indirect trajectory optimization

   Singh, Shubham, and Grant, Michael

   In Scitech AIAA 2018

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2017

1. Conference

   Application Of A Top Down System-of Systems Approach To Enable Human Mars Exploration Missions

   O’Neill, William, Guariniello, Cesare, Das-Stuart, Ashwati, Singh, Shubham, Mall, Kshitij, and Delaurentis, Daniel

   In International Astronautical Congress 2017

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2016

1. Thesis

   Applications of the homotopy analysis method to optimal control problems

   Singh, Shubham

   2016

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2014

1. Journal

   Numerical Study of the Generic Sports Utility Vehicle Design with a Drag Reduction Add-On Device

   Singh, Shubham, and Zunaid, Mohd

   Journal of Computational Engineering, Hindawi 2014

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