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.
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cs.RO 2years
2026 2verdicts
UNVERDICTED 2representative citing papers
Screw-based motion planning extracted from single demonstrations enables robots to autonomously execute long-horizon nanoparticle synthesis protocols.
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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.
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Robotic Nanoparticle Synthesis via Solution-based Processes
Screw-based motion planning extracted from single demonstrations enables robots to autonomously execute long-horizon nanoparticle synthesis protocols.