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cs.RO2021
Nth Order Analytical Time Derivatives of Inverse Dynamics in Recursive and Closed Forms
Shivesh Kumar, Andreas Mueller
Derivatives of equations of motion describing the rigid body dynamics are becoming increasingly relevant for the robotics community and find many applications in design and control…
cs.RO2021★ 3 cited
Design, analysis and control of the series-parallel hybrid RH5 humanoid robot
Julian Esser, Shivesh Kumar, Heiner Peters +5
Last decades of humanoid research has shown that humanoids developed for high dynamic performance require a stiff structure and optimal distribution of mass--inertial properties. H…