Develops analytical Jacobian expressions for kinematic and dynamic quantities including higher-order time derivatives in multi-link systems to improve efficiency in direct and inverse motion optimization.
Analytical derivatives of rigid body dynamics algorithms
2 Pith papers cite this work. Polarity classification is still indexing.
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Pith papers citing it
fields
cs.RO 2years
2026 2verdicts
UNVERDICTED 2representative citing papers
frax is a new open-source JAX library delivering low-microsecond CPU dynamics and over 100 million GPU evaluations per second for robot kinematics and dynamics with autodiff support.
citing papers explorer
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Structured Jacobian Construction for Motion Optimization with High-Order Time Derivatives in Multi-Link Systems
Develops analytical Jacobian expressions for kinematic and dynamic quantities including higher-order time derivatives in multi-link systems to improve efficiency in direct and inverse motion optimization.
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frax: Fast Robot Kinematics and Dynamics in JAX
frax is a new open-source JAX library delivering low-microsecond CPU dynamics and over 100 million GPU evaluations per second for robot kinematics and dynamics with autodiff support.