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.
and Ratiu, T., 2013,Introduction to Mechanics and Symmetry: A Basic Exposition of Classical Mechanical Systems, Texts in Applied Mathemat- ics, Springer New York
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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.