Robot dynamics: equations and algorithms

By Roy Featherstone, David E. Orin. Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065), 2000

355 citations recorded by the source corpus.

Subfields: Computer Vision and Pattern Recognition, Control and Systems Engineering

View Paper: https://www.semanticscholar.org/paper/11748e48f4e55454de526ca55d94983fb8ebe767

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Citations in the corpus

Serial-robot dynamics algorithms for moderately large numbers of joints (2002, background): “In this work, the bias vector is calculated by using the algorithm developed here to solve the inverse dynamic problem, in which the terms corresponding to the joint accelerations have been eliminated, according to the method proposed by Walker and Orin [18].”
Fast Direct Multiple Shooting Algorithms for Optimal Robot Control (2005, methodology): “Even though generating a slightly higher overhead, this algorithm has been proved to be more efficient than the Composite Rigid Body Algorithm for robots with as few as 6 degrees of freedom [26].”
Modeling and Optimal Control of Human-Like Running (2010, methodology): “For the models presented in this paper, M and N are efficiently calculated using the automatic model generator of HuMAnS [25], [26], which is based on the recursive Newton– Euler algorithm and the composite rigid body algorithm (see [27]).”
Centroidal dynamics of a humanoid robot (2013, background): “It is possible to combine the equations for the velocity or momentum for all the links into a global set of equations (Featherstone and Orin 2000).”