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.
(C2) where the articulated inertiaM𝐴 1 and bias𝑾 𝐴 1 change to these new values ¯M𝐴 1 and ¯𝑾 𝐴 1 , respectively ¯M𝐴 1 =(︁(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.