Review of classical approaches for constraint enforcement in multibody systems
A Laulusa, OA Bauchau - 2008 - asmedigitalcollection.asme.org
A hallmark of multibody dynamics is that most formulations involve a number of constraints.
Typically, when redundant generalized coordinates are used, equations of motion are …
Typically, when redundant generalized coordinates are used, equations of motion are …
[图书][B] Flexible multibody dynamics
OA Bauchau - 2011 - Springer
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Cooperative load transportation using multiple UAVs
The aim of this paper is cooperative task assignment to multiple unmanned aerial vehicles
(UAV) for load transportation. The main goal is to transport a slung load safely with minimal …
(UAV) for load transportation. The main goal is to transport a slung load safely with minimal …
Udwadia–Kalaba equation for constrained mechanical systems: formulation and applications
XM Zhao, YH Chen, H Zhao, FF Dong - Chinese journal of mechanical …, 2018 - Springer
There are many achievements in the field of analytical mechanics, such as Lagrange
Equation, Hamilton's Principle, Kane's Equation. Compared to Newton–Euler mechanics …
Equation, Hamilton's Principle, Kane's Equation. Compared to Newton–Euler mechanics …
Contact models in robotics: a comparative analysis
Physics simulation is ubiquitous in robotics. Whether in model-based approaches (eg,
trajectory optimization), or model-free algorithms (eg, reinforcement learning), physics …
trajectory optimization), or model-free algorithms (eg, reinforcement learning), physics …
Dynamic whole-body motion generation under rigid contacts and other unilateral constraints
The most widely used technique for generating whole-body motions on a humanoid robot
accounting for various tasks and constraints is inverse kinematics. Based on the task …
accounting for various tasks and constraints is inverse kinematics. Based on the task …
Agile maneuvers in legged robots: a predictive control approach
Planning and execution of agile locomotion maneuvers have been a longstanding
challenge in legged robotics. It requires to derive motion plans and local feedback policies …
challenge in legged robotics. It requires to derive motion plans and local feedback policies …
Inverse-dynamics mpc via nullspace resolution
Optimal control (OC) using inverse dynamics provides numerical benefits, such as coarse
optimization, cheaper computation of derivatives, and a high convergence rate. However, to …
optimization, cheaper computation of derivatives, and a high convergence rate. However, to …
Differential dynamic programming for multi-phase rigid contact dynamics
A common strategy to generate efficient locomotion movements is to split the problem into
two consecutive steps: the first one generates the contact sequence together with the …
two consecutive steps: the first one generates the contact sequence together with the …
Convex and analytically-invertible dynamics with contacts and constraints: Theory and implementation in mujoco
E Todorov - 2014 IEEE International Conference on Robotics …, 2014 - ieeexplore.ieee.org
We describe a full-featured simulation pipeline implemented in the MuJoCo physics engine.
It includes multi-joint dynamics in generalized coordinates, holonomic constraints, dry joint …
It includes multi-joint dynamics in generalized coordinates, holonomic constraints, dry joint …