Lagrangian mechanics

ChainQueen: A Real-Time Differentiable Physical Simulator for Soft Robotics

Yuanming Hu, Jiancheng Liu, Andrew Spielberg, Joshua B. Tenenbaum, William T. Freeman, Jiajun Wu, Daniela Rus, Wojciech Matusik

引用数: 223 • 2019

Dynamics of Continuum and Soft Robots: A Strain Parameterization Based Approach

Frédéric Boyer, Vincent Lebastard, Fabien Candelier, Federico Renda

引用数: 185 • 2020

Accurate and Efficient Dynamics for Variable-Length Continuum Arms: A Center of Gravity Approach

Isuru S. Godage, Raúl Wirz, Ian D. Walker, Robert J. Webster

引用数: 86 • 2015

Rigid Body Mechanics: Mathematics, Physics and Applications

William B. Heard

引用数: 37 • 2005

A new method of dynamics for robot manipulators

Chang Jin Li

引用数: 35 • 1988

A New Lagrangian Formulation of Dynamics for Robot Manipulators

Changjin Li

引用数: 28 • 1989

The Euler-Poincaré equations for a spherical robot actuated by a pendulum

Sneha Gajbhiye, Ravi N. Banavar

引用数: 22 • 2012

Dynamic Modeling of Robotic Manipulator via an Augmented Deep Lagrangian Network

Shuangshuang Wu, Zhiming Li, Wenbai Chen, Fuchun Sun

引用数: 19 • 2024

Time-Optimal Handover Trajectory Planning for Aerial Manipulators Based on Discrete Mechanics and Complementarity Constraints

Wei Luo, Jingshan Chen, Henrik Ebel, Peter Eberhard

引用数: 19 • 2023

Motion Equations Proper for Forward Dynamics of Robotic Manipulator with Flexible Links by Using Recursive Gibbs-Appell Formulation

M. H. Korayem, A. M. Shafei

引用数: 16 • 2009

Inverse dynamics and energy optimal trajectories for a wheeled mobile robot

Haokun Kang, Caishan Liu, Yan-Bin Jia

引用数: 16 • 2017

ChainQueen: A Real-Time Differentiable Physical Simulator for Soft Robotics

Yuanming Hu, Jiancheng Liu, Andrew Spielberg, Joshua B. Tenenbaum, William T. Freeman, Jiajun Wu, Daniela Rus, Wojciech Matusik

引用数: 16 • 2018

Mathematical modeling of industrial robots based on Hamiltonian mechanics

Václav Záda, Květoslav Belda

引用数: 14 • 2016

Dynamic model for industrial robots based on a compact Lagrangian formulation

You-Liang Gu, Nan K. Loh

引用数: 14 • 1985

Variational Methods for Control and Design of Bipedal Robot Models

David Pekarek

引用数: 8 • 2010

Partial Lagrangian for Efficient Extension and Reconstruction of Multi-DoF Systems and Efficient Analysis Using Automatic Differentiation

Takashi Kusaka, Takayuki Tanaka

引用数: 7 • 2022

Safe Trajectory Generation for Wheel-Leg Hybrid Mechanism Using Discrete Mechanics and Optimal Control

Yiqun Li, Jiahui Gao, Kai Chen, Wei Chen, Zhouping Yin

引用数: 7 • 2023

Modeling the dynamics of soft robots by discs and threads

Joshua Schultz, Haley Sanders, Bui Duc Hong Phuc, Brett Layer, Marc D. Killpack

引用数: 7 • 2022

Standard and diagonalized Lagrangian dynamics: a comparison

Krzysztof Kozłowski

引用数: 7 • 2002

Simulation and trajectory optimization of articulated robots via spectral variational integrators

Yiqun Li, Jiahui Gao, Wei Chen, Yu Zhou, Zhouping Yin

引用数: 6 • 2024