Lie-group recursive dynamics algorithms are extended to higher-order time derivatives for floating-base robots, with quadratic computational scaling shown versus exponential for automatic differentiation on a 12-DoF aerial manipulator.
Screw and Lie group theory in multibody dynamics: recur- sive algorithms and equations of motion of tree-topology systems
1 Pith paper cite this work. Polarity classification is still indexing.
1
Pith paper citing it
fields
cs.RO 1years
2026 1verdicts
UNVERDICTED 1representative citing papers
citing papers explorer
-
Lie Group Formulation of Recursive Dynamics Algorithms of Higher Order for Floating-Base Robots
Lie-group recursive dynamics algorithms are extended to higher-order time derivatives for floating-base robots, with quadratic computational scaling shown versus exponential for automatic differentiation on a 12-DoF aerial manipulator.