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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Bibliographic Details

Published in:	IEEE transactions on robotics Vol. 41; pp. 5584 - 5603
Main Authors:	Chignoli, Matthew, Adrian, Nicholas, Kim, Sangbae, Wensing, Patrick M.
Format:	Journal Article
Language:	English
Published:	IEEE 2025
Subjects:	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
Online Access:	Get full text
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