A Recursive Multibody Dynamics and Sensitivity Algorithm for Branched Kinematic Chains

By G. Sohl, J. Bobrow. 2001

84 citations recorded by the source corpus.

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Predictive dynamics: an optimization-based novel approach for human motion simulation (2010, methodology): “Sohl and Bobrow (2001) developed a sensitivity algorithm of recursive Newton–Euler equations for branched or tree-topology”
DART: Dynamic Animation and Robotics Toolkit (2018, methodology): “…to represent articulated rigid body systems in the geometric notations (Park, Bobrow, and Ploen 1995) and Featherstone’s Articulated Body Algorithm (Featherstone 2008) using a Lie group formulation to compute forward dynamics (Ploen and Park 1999) and hybrid dynamics (Sohl and Bobrow 2001).”
Synthesis and stabilization of complex behaviors through online trajectory optimization (2012, background): “While some work has been done on analytical differentiation [8], it is limited to smooth dynamics and does not apply to general physics engines that must deal with collision detection, computation of contact interaction forces, enforcing nonlinear equality constraints etc.”
Optimization-based motion prediction of mechanical systems: sensitivity analysis (2009, methodology): “Based on Lie group and Lie algebra theory, Sohl and Bobrow (2001) developed sensitivity algorithm of recursive Newton– Euler equations for branched or tree-topology systems.”