Dynamics (music)
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Dynamics, in the context of robotics and AI, refers to the study of forces, torques, and their relationship to motion in mechanical systems. It extends kinematics by incorporating the physical causes of movement — inertia, gravity, friction, and contact forces — to model how robots and bodies actually behave under real-world conditions. In robotics, dynamic models are used to derive equations of motion for manipulators, legged robots, and aerial vehicles, enabling engineers to design controllers that accurately command forces and torques rather than positions alone. Algorithms such as the recursive Newton-Euler method and tools like Pinocchio make real-time dynamic computation feasible for complex multi-body systems. Dynamics is also central to simulation-based training, where learned policies must transfer to physical hardware, and to biomechanical research studying human and animal movement. Understanding dynamics is essential for achieving stable locomotion, precise manipulation, and safe human-robot interaction, making it a foundational discipline across virtually every area of modern robotics and autonomous systems.
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Top Cited Papers
Robot dynamics and control
Mark W. Spong
Citations: 3821 • 1989
Adaptive representation of dynamics during learning of a motor task
Reza Shadmehr, FA Mussa-Ivaldi
Citations: 2666 • 1994
Efficient Bipedal Robots Based on Passive-Dynamic Walkers
Steven H. Collins, Andy Ruina, Russ Tedrake, Martijn Wisse
Citations: 1878 • 2005
Robot Analysis: The Mechanics of Serial and Parallel Manipulators
Lung‐Wen Tsai
Citations: 1851 • 1999
OpenSim: Simulating musculoskeletal dynamics and neuromuscular control to study human and animal movement
Ajay Seth, Jennifer L. Hicks, Thomas K. Uchida, Ayman Habib, Christopher L. Dembia, James J. Dunne, Carmichael Ong, Matthew S. DeMers, Apoorva Rajagopal, Matthew Millard, Samuel R. Hamner, Edith M. Arnold, Jennifer R. Yong, Shrinidhi Kowshika Lakshmikanth, Michael Sherman, Joy P. Ku, Scott L. Delp
Citations: 1326 • 2018
The central nervous system stabilizes unstable dynamics by learning optimal impedance
Etienne Burdet, Rieko Osu, David W. Franklin, Theodore E. Milner, Mitsuo Kawato
Citations: 1116 • 2001
Human movement variability, nonlinear dynamics, and pathology: Is there a connection?
Nicholas Stergiou, Leslie M. Decker
Citations: 1050 • 2011
Robot Dynamics Algorithms
Roy Featherstone
Citations: 868 • 1987
Robot dynamics and control
Peter C. Müller
Citations: 842 • 1992
Sim-to-Real Transfer of Robotic Control with Dynamics Randomization
Citations: 787 • 2018
Dynamics of Multibody Systems
Ahmed A. Shabana
Citations: 783 • 2013
Dynamics of a cantilever beam attached to a moving base
T. R. Kane, R. R. Ryan, A. K. Banerjeer
Citations: 745 • 1987
Dynamics of Multibody Systems
Ahmed A. Shabana
Citations: 728 • 2005
Literature survey of contact dynamics modelling
Gabriele Gilardi, Inna Sharf
Citations: 719 • 2002
Rigid-Body Dynamics with Friction and Impact
David E. Stewart
Citations: 622 • 2000
Dynamics of Multibody Systems
Robert E. Roberson, R. Schwertassek
Citations: 521 • 1988
The kinematics, dynamics, and control of free-flying and free-floating space robotic systems
Steven Dubowsky, E. Papadopoulos
Citations: 448 • 1993
Dynamics of Protein Turnover, a Missing Dimension in Proteomics
Julie M. Pratt, June Petty, Isabel Riba‐Garcia, Duncan H. L. Robertson, Simon J. Gaskell, Stephen G. Oliver, Robert J. Beynon
Citations: 404 • 2002
Learning Neural Network Policies with Guided Policy Search under Unknown Dynamics
Sergey Levine, Pieter Abbeel
Citations: 402 • 2014
Biped Locomotion: Dynamics, Stability, Control and Application
Miomir Vukobratović
Citations: 402 • 1990