Hamiltonian mechanics

Remarks on robot dynamics: canonical transformations and Riemannian geometry

Mark W. Spong

Citations: 59 • 2003

Lagrangian and Hamiltonian Methods for Nonlinear Control 2006

Citations: 57 • 2007

Energy Shaping Control of a CyberOctopus Soft Arm

Heng-Sheng Chang, Udit Halder, Chia-Hsien Shih, Arman Tekinalp, Tejaswin Parthasarathy, Ekaterina Gribkova, Girish Chowdhary, Rhanor Gillette, Mattia Gazzola, Prashant G. Mehta

Citations: 36 • 2020

Hamiltonian-based Neural ODE Networks on the SE(3) Manifold For Dynamics Learning and Control

Thai Duong, Nikolay Atanasov

Citations: 32 • 2021

Group theoretical approach in using canonical transformations and symplectic geometry in the control of approximately modelled mechanical systems interacting with an unmodelled environment

József K. Tar, Imre J. Rudas, J.F. Bitó

Citations: 30 • 1997

On the dynamics modeling of free-floating-base articulated mechanisms and applications to humanoid whole-body dynamics and control

Karim Bouyarmane, Abderrahmane Kheddar

Citations: 26 • 2012

Port-Hamiltonian Neural ODE Networks on Lie Groups for Robot Dynamics Learning and Control

Thai Duong, Abdullah Altawaitan, Jason Stanley, Nikolay Atanasov

Citations: 22 • 2024

Modeling and Control of Multibody Systems.

N. Sreenath

Citations: 22 • 1987

Generalized Hamiltonian biodynamics andtopology invariants of humanoid robots

Vladimir G. Ivancevic

Citations: 19 • 2002

Hamiltonian formulation with reduced variables for flexible multibody systems under linear constraints: Theory and experiment

Shuonan Dong, Keisuke Otsuka, Kanjuro Makihara

Citations: 17 • 2022

Hamiltonian description and dynamic control of flexible robots

S. Nicosia, P. Tomei, Antonio Tornambè

Citations: 16 • 1989

Mathematical modeling of industrial robots based on Hamiltonian mechanics

Václav Záda, Květoslav Belda

Citations: 14 • 2016

Adjoint method for optimal control of multibody systems in the Hamiltonian setting

Maciej Pikuliński, Paweł Malczyk

Citations: 12 • 2021

Extending Lagrangian and Hamiltonian Neural Networks with Differentiable\n Contact Models

Yaofeng Desmond Zhong, Biswadip Dey, Amit Chakraborty

Citations: 12 • 2021

Newton–Euler modeling and Hamiltonians for robot control in the geometric algebra

Eduardo Bayro–Corrochano, Jesús A. Medrano-Hermosillo, Guillermo Osuna-González, Ulises Uriostegui-Legorreta

Citations: 11 • 2022

Variational Methods for Control and Design of Bipedal Robot Models

David Pekarek

Citations: 8 • 2010

The Hamiltonization of nonholonomic systems and its applications

Oscar E. Fernandez

Citations: 6 • 2009

Application of Hamiltonian mechanics to control design for industrial robotic manipulators

Václav Záda, Květoslav Belda

Citations: 5 • 2017

New Hamiltonian Formulation and Control of Robotic Systems

Yuzhen Wang, Shuzhi Sam Ge

Citations: 4 • 2005

Energy-based Hamiltonian approach in <i>H</i>_∞ controller design for <i>n</i>-degree of freedom mechanical systems

Mohsen Karimi, Tahereh Binazadeh

Citations: 4 • 2019