A Propagation Perspective on Recursive Forward Dynamics for Systems With Kinematic Loops

We revisit the concept of constraint embedding as a means for dealing with kinematic loop constraints during dynamics computations for rigid-body systems. Specifically, we consider the local loop constraints emerging from common actuation submechanisms in modern robotics systems (e.g., geared motors...

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Vydané v:	IEEE transactions on robotics Ročník 41; s. 5584 - 5603
Hlavní autori:	Chignoli, Matthew, Adrian, Nicholas, Kim, Sangbae, Wensing, Patrick M.
Médium:	Journal Article
Jazyk:	English
Vydavateľské údaje:	IEEE 2025
Predmet:	Algebra Analytical models Benchmark testing Dynamics Force Heuristic algorithms humanoid robots Kinematics Legged locomotion legged robots Mathematical models recursive algorithms Robots Vectors
ISSN:	1552-3098, 1941-0468
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