2 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…
eess.SY2023
Coriolis Factorizations and their Connections to Riemannian Geometry
Patrick M. Wensing, Jean-Jacques E. Slotine
Many energy-based control strategies for mechanical systems require the choice of a Coriolis factorization satisfying a skew-symmetry property. This paper (a) explores if and when…