R. Ploen. A Lie group formulation of robot dynamics. International Journal of Robotics Research, 14(6):609-618, 1995.Frank C Park, James E Bobrow, and Scott R Ploen. "A Lie group formulation of robot dynamics." In: The International Journal of Robotics Research 14.6 (1995), pp. 609-...
A recursive formulation of manipulator dynamics based on the Lagrange equations has been developed. The efficiency of this formulation allows the dynamics ... JM Hollerbach 被引量: 0发表: 1979年 A Lie Group Formulation of Robot Dynamics. In this article we present a unified geometric treatment of...
Ada 95: The Craft of Object-Oriented Programming- General, intermediate. Ada Plus Data Structures: An Object Oriented Approach- Data Structures. Ada for Software Engineers- Idioms, Architecture. Concurrent and Real-Time Programming in Ada- Concurrency, Containers, Scheduling. ...
Here, we investigate the locomotion of a single robot driven by an external magnetic force in RBC suspensions. We applied the BEM to solve the fluid dynamics and a finite element method (FEM) to deal with the solid mechanics of the RBC membrane; the dynamic motions of the robot in blood ...
1. A cascaded scheme of DFL and MPC is proposed to address the nonlinear MPC computational complexity due to the intrinsic nonlinearity of the robot. 2. The mapping between the original nonlinear underactuated model and the linear equivalent model (the MPC-CBF formulation is designed on the linea...
Technological advances in head-mounted displays (HMDs) facilitate the acquisition of physiological data of the user, such as gaze, pupil size, or heart rate. Still, interactions with such systems can be prone to errors, including unintended behavior or u
The system Lagrangian and the rolling constraint are invariant with respect to the group isotropy and hence permit a reduced dynamic formulation termed as the nonholonomic 'Euler-Poincaré' equation with advected dynamics. Using Lie brackets and symmetric products of the potential and control vector ...
urdfdom-headers 1.0.0-2 The URDF (U-Robot Description Format) headers provides core data structure hea… uriparser 0.8.5 uriparser is a strictly RFC 3986 compliant URI parsing and handling library wr… usbmuxd 1.1.1.133-1 A socket daemon to multiplex connections from and to iOS devi...
the Five-hundred-meter Aperture Spherical Radio Telescope (FAST), and developed a broad spectrum of deep-sea exploration equipment such as the underwater glider Haiyi, the deep-sea submersible Qianlong, the research vessel Tansuo, the unmanned submersible Haidou, and the underwater robot Haixing. ...
The present paper proposes a mathematical model of a fantail helicopter type based on Lie-group theory. The present paper first recalls the Lagrange–d’Alembert–Pontryagin principle to describe the dynamics of a multi-part object, and subsequently applies such principle to describe the motion of ...