Efficient Geometric Linearization of Moving-Base Rigid Robot Dynamics

Efficient Geometric Linearization of Moving-Base Rigid Robot Dynamics

11 April 2022

Silvio Traversaro

Daniele Pucci

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Papers citing "Efficient Geometric Linearization of Moving-Base Rigid Robot Dynamics"

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Title
A micro Lie theory for state estimation in robotics J. Solà Jeremie Deray Dinesh Atchuthan 48 413 0 04 Dec 2018
Real-Time Motion Planning of Legged Robots: A Model Predictive Control Approach Farbod Farshidian E. Jelavic Asutosh Satapathy Markus Giftthaler J. Buchli 64 128 0 11 Oct 2017
Automatic Differentiation of Rigid Body Dynamics for Optimal Control and Estimation Markus Giftthaler Michael Neunert M. Stäuble M. Frigerio Claudio Semini J. Buchli 70 62 0 12 Sep 2017
Momentum Control of an Underactuated Flying Humanoid Robot Daniele Pucci Silvio Traversaro F. Nori 45 37 0 16 Feb 2017
On Centroidal Dynamics and Integrability of Average Angular Velocity A. Saccon Silvio Traversaro F. Nori H. Nijmeijer 61 22 0 10 Jan 2017
Automatic Gain Tuning of a Momentum Based Balancing Controller for Humanoid Robots Daniele Pucci Gabriele Nava F. Nori 33 7 0 10 Oct 2016
Automatic LQR Tuning Based on Gaussian Process Global Optimization A. Marco Philipp Hennig Jeannette Bohg S. Schaal Sebastian Trimpe 57 164 0 06 May 2016
Intrinsic filtering on Lie groups with applications to attitude estimation Axel Barrau Silvere Bonnabel 44 123 0 09 Oct 2013