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Living Reference Work Entry In depth
Dynamics Calculation Methods
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Living Reference Work Entry In depth
The Articulated-Body Algorithm
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Living Reference Work Entry In depth
The Composite-Rigid-Body Algorithm
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Living Reference Work Entry In depth
The Recursive Newton-Euler Algorithm
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Living Reference Work Entry In depth
Spatial Vectors
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Chapter
The Physics and Control of Balancing on a Point in the Plane
This chapter presents a new model of the physical process of balancing in a vertical plane, in which the essential parameters of a robot’s balancing behaviour are distilled into just two numbers, regardless of...
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Chapter
A New Simple Model of Balancing in the Plane
This paper presents a new model of the dynamics of balancing in the plane, in which the essential parameters of the robot’s balancing behaviour are reduced to just two numbers, both of which are simple functio...
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Article
High-slope terrain locomotion for torque-controlled quadruped robots
Research into legged robotics is primarily motivated by the prospects of building machines that are able to navigate in challenging and complex environments that are predominantly non-flat. In this context, co...
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Article
Angular momentum based balance controller for an under-actuated planar robot
In this paper, a new control algorithm based on angular momentum is presented for balancing an under-actuated planar robot. The controller is able to stabilize the robot in any unstable balanced configuration ...
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Chapter
Dynamics
The dynamic equations of motion provide the relationships between actuation and contact forces acting on robot mechanisms, and the acceleration and motion trajectories that result. Dynamics is important for m...
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Article
A new factorization of the mass matrix for optimal serial and parallel calculation of multibody dynamics
This paper describes a new factorization of the inverse of the joint-space inertia matrix M. In this factorization, M −1 is directly obtained as the product of a set of sparse matrices wherein, fo...
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Chapter and Conference Paper
Analysis and Design of Planar Self-Balancing Double- Pendulum Robots
This paper explores the attributes of a double-pendulum robot that determine its ability to balance. A new measure is defined, called the velocity gain, that expresses the degree to which the robot’s centre of...
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Chapter and Conference Paper
Angular Momentum Based Controller for Balancing an Inverted Double Pendulum
This paper presents a new control algorithm, based on angular momentum, for balancing a planar inverted double pendulum robot having one degree of underactuation. The robot may either pivot about a fixed point...
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Book
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Chapter
Forward Dynamics — Inertia Matrix Methods
Forward dynamics is the problem of finding the acceleration of a rigid-body system in response to given applied forces. It is used mainly for simulation; and it is sometimes called ‘direct dynamics’, or simply...
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Chapter
Introduction
Rigid-body dynamics is an old subject that has been rejuvenated and transformed by the computer. Today, we can find dynamics calculations in computer games, in animation and virtual-reality software, in simula...
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Chapter
Inverse Dynamics
Inverse dynamics is the problem of finding the forces required to produce a given acceleration in a rigid-body system. Inverse dynamics calculations are used in motion control systems, trajectory design and op...
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Chapter
Forward Dynamics — Propagation Methods
The forward dynamics problem presents us with two sets of unknowns: the joint accelerations and the joint constraint forces. It is usually not possible to solve for any of these unknowns locally at any one bod...
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Chapter
Accuracy and Efficiency
In theory, the algorithms presented in this book are all exact. However, the presence of round-off errors in the calculations ensures that the results are rarely so. Other sources of error include the use of n...
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Chapter
Closed Loop Systems
This chapter covers the forward and inverse dynamics of rigid-body systems containing kinematic loops. The presence of kinematic loops brings a new level of complexity to the dynamics problem: new formulations...
