Implicit Time Integration Simulation of Robots with Rigid Bodies and Cosserat Rods Based on A Newton-euler Recursive Algorithm

In this paper, we propose a new algorithm for solving the forward dynamics of multibody systems consisting of rigid bodies connected in arbitrary topologies by localised joints and/or soft links, possibly actuated or not. The simulation is based on the implicit time-integration of the Lagrangian mod...

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Bibliographic Details
Published in:	IEEE transactions on robotics Vol. 40; pp. 1 - 20
Main Authors:	Boyer, Frederic, Gotelli, Andrea, Tempel, Philipp, Lebastard, Vincent, Renda, Federico, Briot, Sebastien
Format:	Journal Article
Language:	English
Published:	New York IEEE 01.01.2024 The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subjects:	Algorithms Automatic Engineering Sciences Heuristic algorithms Inverse dynamics Jacobian matrices Kinematics Mathematical models Multibody systems Prediction algorithms Rigid structures Robot kinematics Robotics Rods Strain Time integration Topology
ISSN:	1552-3098, 1941-0468
Online Access:	Get full text
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