Robotics
Adapting Rigid-Body Dynamics Derivatives for Constraint Embedding Closed-Chain Models
Advancing efficient gradient computation for complex, constraint-embedded robotic kinematics.
This paper extends an existing algorithm for the first-order derivatives of rigid-body dynamics to the case of closed-chain kinematic systems modeled using constraint embed- ding. Many standard dynamics algorithms apply to both open- chain and constraint-embedded models, but exis...
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ArXiv CS.RO
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ArXiv CS.RO
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This research streamlines the computation of dynamics derivatives, which is essential for training sophisticated robotics controllers through gradient-based optimization. By efficiently handling closed-chain constraints, it enables more accurate simulations and faster learning for complex mechanical systems.
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