1 citations · 1 across the 6 of their papers we have counts for
7 papers
Simpson variational integrator for nonlinear systems: a tutorial on the Lagrange top
Juan Antonio Rojas-Quintero, François Dubois, Frédéric Jourdan
This contribution presents an integration method based on the Simpson quadrature. The integrator is designed for finite-dimensional nonlinear mechanical systems that derive from va…
A variational symplectic scheme based on Lobatto's quadrature
François Dubois, Juan Antonio Rojas-Quintero
We present a variational integrator based on the Lobatto quadrature for the time integration of dynamical systems issued from the least action principle. This numerical method uses…
Simpson's quadrature for a nonlinear variational symplectic scheme
François Dubois, Juan Antonio Rojas-Quintero
We propose a variational symplectic numerical method for the time integration of dynamical systems issued from the least action principle. We assume a quadratic internal interpolat…
A variational symplectic scheme based on Simpson's quadrature
François Dubois, Juan Antonio Rojas-Quintero
We propose a variational symplectic numerical method for the time integration of dynamical systems issued from the least action principle. We assume a quadratic internal interpolat…
Riemannian formulation of Pontrygin's principle for robotic manipulators
François Dubois, Hedy César Ramírez-De-{Á}vila, Juan Antonio Rojas-Quintero
In this work, we consider a mechanical system whose mass tensor implements a scalar product in a Riemannian manifold. This system is controlled with the help of forces and torques.…
Pontryagin calculus in Riemannian geometry
François Dubois, Danielle Fortuné, Juan Antonio Rojas Quintero +1
In this contribution, we study systems with a finite number of degrees of freedom as in robotics. A key idea is to consider the mass tensor associated to the kinetic energy as a me…
Covariant formulation for the optimal control of jointed arm robots: an alternative to Pontryagin's principle
J. A. Rojas Quintero, C. Vallée, J. P. Gazeau +1
We elaborate algorithms able to efficiently command the actuators of an articulated robot. Our time discretization method is based on cubic and quintic Hermite Finite Elements. The…