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cs.RO2023
PV-OSIMr: A Lowest Order Complexity Algorithm for Computing the Delassus Matrix
Ajay Suresha Sathya, Wilm Decre, Jan Swevers
We present PV-OSIMr, an efficient algorithm for computing the Delassus matrix (also known as the inverse operational space inertia matrix) for a kinematic tree, with the lowest ord…
cs.RO2023
Efficient Constrained Dynamics Algorithms based on an Equivalent LQR Formulation using Gauss' Principle of Least Constraint
Ajay Suresha Sathya, Herman Bruyninckx, Wilm Decre +1
We derive a family of efficient constrained dynamics algorithms by formulating an equivalent linear quadratic regulator (LQR) problem using Gauss principle of least constraint and…