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Rigid Body Dynamics Algorithms
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Rigid Body Dynamics Algorithms presents the subject of computational rigid-body dynamics through the medium of spatial 6D vector notation to facilitate the implementation of dynamics algorithms on a computer: shorter, simpler code that is easier to write, understand and debug, with no loss of efficiency.Abstract:
Rigid Body Dynamics Algorithms presents the subject of computational rigid-body dynamics through the medium of spatial 6D vector notation. It explains how to model a rigid-body system and how to analyze it, and it presents the most comprehensive collection of the best rigid-bodydynamics algorithms to be found in a single source. The use of spatial vector notation greatly reduces the volume of algebra which allows systems to be described using fewer equations and fewer quantities. It also allows problems to be solved in fewer steps, and solutions to be expressed more succinctly. In addition algorithms are explained simply and clearly, and are expressed in a compact form. The use of spatial vector notation facilitates the implementation of dynamics algorithms on a computer: shorter, simpler code that is easier to write, understand and debug, with no loss of efficiency.read more
Citations
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Proceedings ArticleDOI
MuJoCo: A physics engine for model-based control
TL;DR: A new physics engine tailored to model-based control, based on the modern velocity-stepping approach which avoids the difficulties with spring-dampers, which can compute both forward and inverse dynamics.
Proceedings ArticleDOI
STOMP: Stochastic trajectory optimization for motion planning
TL;DR: It is experimentally show that the stochastic nature of STOMP allows it to overcome local minima that gradient-based methods like CHOMP can get stuck in.
Journal ArticleDOI
Learning agile and dynamic motor skills for legged robots
Jemin Hwangbo,Joonho Lee,Alexey Dosovitskiy,Dario Bellicoso,Vassilios Tsounis,Vladlen Koltun,Marco Hutter +6 more
TL;DR: In this paper, a method for training a neural network policy in simulation and transferring it to a state-of-the-art legged system is presented. But this method is limited to simulation and only few and comparably simple examples have been deployed on real systems.
Journal ArticleDOI
Centroidal dynamics of a humanoid robot
TL;DR: This paper studies the properties, structure and computation schemes for the centroidal momentum matrix (CMM), which projects the generalized velocities of a humanoid robot to its spatial centroidAl momentum, and introduces the new concept of “average spatial velocity” of the humanoid that encompasses both linear and angular components and results in a novel decomposition of the kinetic energy.
References
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