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cs.RO2025
A Geometric Method for Base Parameter Analysis in Robot Inertia Identification Based on Projective Geometric Algebra
Guangzhen Sun, Ye Ding, Xiangyang Zhu
This paper proposes a novel geometric method for analytically determining the base inertial parameters of robotic systems. The rigid body dynamics is reformulated using projective…
cs.RO2024
Generation of Conservative Dynamical Systems Based on Stiffness Encoding
Tengyu Hou, Hanming Bai, Ye Ding +1
Dynamical systems (DSs) provide a framework for high flexibility, robustness, and control reliability and are widely used in motion planning and physical human-robot interaction. T…