2 papers
cs.RO2025
Haptic-based Complementary Filter for Rigid Body Rotations
Amit Kumar, Domenico Campolo, Ravi N. Banavar
The non-commutative nature of 3D rotations poses well-known challenges in generalizing planar problems to three-dimensional ones, even more so in contact-rich tasks where haptic in…
math.NA2025
Numerical Integrators for Mechanical Systems on Lie Groups
Viyom Vivek, David Martin de Diego, Ravi N Banavar
Retraction maps are known to be the seed for all numerical integrators. These retraction maps-based integrators can be further lifted to tangent and cotangent bundles, giving rise…