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    ICRA
    2000
    IEEE
    86views Robotics» more  ICRA 2000»
    Forward Dynamics Algorithms for Multibody Chains and Contact
    13 years 9 months ago
    Forward Dynamics Algorithms for Multibody Chains and Contact
    Download  www.cs.rutgers.edu
    We describe a framework for derivation of several forward dynamics algorithms used in robotics. The framework is based on formulating an augmented system and performing block matr...
    Dinesh K. Pai, Uri M. Ascher, Paul G. Kry
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