7 citations · 20 across the 13 of their papers we have counts for
3 papers · 2 filters
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…
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…
Energy-Efficient Control of Cable Robots Exploiting Natural Dynamics and Task Knowledge
Boris Deroo, Erwin Aertbeliën, Wilm Decré +1
This paper focusses on the energy-efficient control of a cable-driven robot for tasks that only require precise positioning at few points in their motion, and where that accuracy c…