Rigid body

Rigid-Body Dynamics with Friction and Impact

David E. Stewart

Citations: 622 • 2000

The Calculation of Robot Dynamics Using Articulated-Body Inertias

Roy Featherstone

Citations: 577 • 1983

On the “piano movers'” problem I. The case of a two‐dimensional rigid polygonal body moving amidst polygonal barriers

Jacob T. Schwartz, Micha Sharir

Citations: 451 • 1983

The Lie group of rigid body displacements, a fundamental tool for mechanism design

JM Hervé

Citations: 425 • 1999

Attitude control without angular velocity measurement: a passivity approach

Fernando Lizarralde, John T. Wen

Citations: 402 • 1996

The Pinocchio C++ library : A fast and flexible implementation of rigid body dynamics algorithms and their analytical derivatives

Justin Carpentier, Guilhem Saurel, Gabriele Buondonno, Joseph Mirabel, Florent Lamiraux, Olivier Stasse, Nicolas Mansard

Citations: 344 • 2019

Towards a theoretical foundation for morphological computation with compliant bodies

Helmut Häuser, Auke Jan Ijspeert, Rudolf Marcel Füchslin, Rolf Pfeifer, Wolfgang Maass

Citations: 336 • 2011

Drift-free attitude estimation for accelerated rigid bodies

H. Rehbinder, Xiaoming Hu

Citations: 229 • 2004

On the Kinematics of Wheeled Mobile Robots

J. C. Alexander, John H. Maddocks

Citations: 228 • 1989

Estimation of inertial parameters of rigid body links of manipulators

Chae An, Christopher G. Atkeson, John M. Hollerbach

Citations: 218 • 1985

A Divide-and-Conquer Articulated-Body Algorithm for Parallel O(log(n)) Calculation of Rigid-Body Dynamics. Part 1: Basic Algorithm

Roy Featherstone

Citations: 202 • 1999

Generalizing Negative Imaginary Systems Theory to Include Free Body Dynamics: Control of Highly Resonant Structures With Free Body Motion

Mohamed A. Mabrok, Abhijit G. Kallapur, Ian R. Petersen, Alexander Lanzon

Citations: 166 • 2014

Interactive simulation of surgical needle insertion and steering

Nuttapong Chentanez, Ron Alterovitz, Daniel Ritchie, Lita Cho, Kris Hauser, Ken Goldberg, Jonathan Richard Shewchuk, James F. O’Brien

Citations: 156 • 2009

Joint-Angle Measurement Using Accelerometers and Gyroscopes—A Survey

Peng Cheng, Bengt Oelmann

Citations: 138 • 2009

Friction and rigid body identification of robot dynamics

Martin Grotjahn, Mehdi Daemi, Bodo Heimann

Citations: 127 • 2001

Structural synthesis of fully-isotropic parallel robots with Schönflies motions via theory of linear transformations and evolutionary morphology

G. Gogu

Citations: 125 • 2006

Dynamic modeling of multi-link flexible robotic manipulators

Wen Chen

Citations: 124 • 2001

Nonparametric Second-order Theory of Error Propagation on Motion Groups

Yunfeng Wang, Gregory S. Chirikjian

Citations: 124 • 2008

Reaction Mass Pendulum (RMP): An explicit model for centroidal angular momentum of humanoid robots

Sung‐Hee Lee, Ambarish Goswami

Citations: 124 • 2007

A Divide-and-Conquer Articulated-Body Algorithm for Parallel O(log(n)) Calculation of Rigid-Body Dynamics. Part 2: Trees, Loops, and Accuracy

Roy Featherstone

Citations: 123 • 1999