Lie-group recursive dynamics algorithms are extended to higher-order time derivatives for floating-base robots, with quadratic computational scaling shown versus exponential for automatic differentiation on a 12-DoF aerial manipulator.
Hence, the new value of the𝑾1, denoted by ¯𝑾1, has to account for the wrench𝑾2 coming from the child body𝐵2 as follows ¯𝑾1 =𝑾 1 +𝑾 2 = (︁(M0 1 +M 0
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Lie Group Formulation of Recursive Dynamics Algorithms of Higher Order for Floating-Base Robots
Lie-group recursive dynamics algorithms are extended to higher-order time derivatives for floating-base robots, with quadratic computational scaling shown versus exponential for automatic differentiation on a 12-DoF aerial manipulator.