Rigid body dynamics

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

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

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

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

Sung‐Hee Lee, Ambarish Goswami

Citations: 124 • 2007

Dynamic modeling of multi-link flexible robotic manipulators

Wen Chen

Citations: 124 • 2001

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

Explicit dynamics of space free-flyers with multiple manipulators via SPACEMAPLE

S. Ali A. Moosavian, Evangelos Papadopoulos

Citations: 99 • 2004

Optimal Design of a4-DOF SCARA Type Parallel Robot Using Dynamic Performance Indices and AngularConstraints

Songtao Liu, Tian Huang, Jiangping Mei, Xueman Zhao, Panfeng Wang, D.G. Chetwynd

Citations: 88 • 2012

A Two-Body Rigid/Flexible Model of Needle Steering Dynamics in Soft Tissue

Mohsen Khadem, Carlos Rossa, Nawaid Usmani, Ron S. Sloboda, Mahdi Tavakoli

Citations: 73 • 2016

Dynamics of Manipulation Robots: Theory and Application

Veljko Potkonjak, Miomir Vukobratović

Citations: 72 • 1982

Trajectory Optimization With Implicit Hard Contacts

Jan Carius, René Ranftl, Vladlen Koltun, Marco Hutter

Citations: 69 • 2018

Dynamics

Roy Featherstone, David E. Orin

Citations: 65 • 2008

Modelling of a biologically inspired robotic fish driven by compliant parts

Hadi El Daou, Taavi Salumäe, Lily D. Chambers, William Megill, Maarja Kruusmaa

Citations: 55 • 2014

Modeling of Impact Dynamics: A Literature Survey

S. Faik, Holly O. Witteman

Citations: 55 • 2000

Geometric Algorithms for Robot Dynamics: A Tutorial Review

Frank C. Park, Beobkyoon Kim, Cheongjae Jang, Jisoo Hong

Citations: 55 • 2018

Automatic differentiation of rigid body dynamics for optimal control and estimation

Markus Giftthaler, Michael Neunert, Markus Stäuble, Marco Frigerio, Claudio Semini, Jonas Buchli

Citations: 54 • 2017

Modelling and simulation of an underwater manipulator

Kiyoshi IOI, Kenji Itoh

Citations: 54 • 1989

Experimental study on the dynamics and control of a space robot with experimental free-floating robot satellite

Kazuya Yoshida

Citations: 54 • 1994

Forward Dynamics, Elimination Methods, and Formulation Stiffness in Robot Simulation

Uri M. Ascher, Dinesh K. Pai, Benoit P. Cloutier

Citations: 53 • 1997