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cs.RO2026
Exact Thrust-Reversal Limits of Bidirectional Propellers under Bounded Motor Inputs
Ahmed Ali, Chiara Gabellieri, Antonio Franchi
Bidirectional propellers are often treated as signed thrust sources, but their thrust is a signed-quadratic function of rotor speed.Thus, thrust reversal necessarily occurs through…
cs.RO2026
Lie Group Formulation of Recursive Dynamics Algorithms of Higher Order for Floating-Base Robots
Ahmed Ali, Chiara Gabellieri, Antonio Franchi
In this paper, we describe procedures for computing higher-order time derivatives of the Lie-group Newton-Euler, Articulated-Body Inertia, and hybrid dynamics algorithms for floati…