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cs.RO2025★ 10 cited
A Recursive Lie-Group Formulation for the Second-Order Time Derivatives of the Inverse Dynamics of parallel Kinematic Manipulators
Andreas Mueller, Shivesh Kumar, Thomas Kordik
Series elastic actuators (SEA) were introduced for serial robotic arms. Their model-based trajectory tracking control requires the second time derivatives of the inverse dynamics s…
cs.RO2025★ 15 cited
Closed Form Time Derivatives of the Equations of Motion of Rigid Body Systems
Andreas Mueller, Shivesh Kumar
Derivatives of equations of motion(EOM) describing the dynamics of rigid body systems are becoming increasingly relevant for the robotics community and find many applications in de…