Implicit Time Integration Simulation of Robots with Rigid Bodies and Cosserat Rods Based on A Newton-euler Recursive Algorithm - Boyer, Frederic; Gotelli, Andrea; Tempel, Philipp; Lebastard, Vincent; Renda, Federico; Briot, Sebastien (IEEE transactions on robotics, 2024)
Keywords: Algorithms; Automatic; Engineering Sciences; Heuristic algorithms; Inverse dynamics; Jacobian matrices; Kinematics; Mathematical models; Multibody systems; Prediction algorithms; Rigid structures; Robot kinematics; Robotics; Rods; Strain; Time integration; Topology