3 papers
cs.RO2024
URDF+: An Enhanced URDF for Robots with Kinematic Loops
Matthew Chignoli, Jean-Jacques Slotine, Patrick M. Wensing +1
Designs incorporating kinematic loops are becoming increasingly prevalent in the robotics community. Despite the existence of dynamics algorithms to deal with the effects of such l…
cs.RO2024
A Propagation Perspective on Recursive Forward Dynamics for Systems with Kinematic Loops
Matthew Chignoli, Nicholas Adrian, Sangbae Kim +1
We revisit the concept of constraint embedding as a means for dealing with kinematic loop constraints during dynamics computations for rigid-body systems. Specifically, we consider…
cs.RO2024
Learning Quadruped Locomotion Using Differentiable Simulation
Yunlong Song, Sangbae Kim, Davide Scaramuzza
This work explores the potential of using differentiable simulation for learning quadruped locomotion. Differentiable simulation promises fast convergence and stable training by co…