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Most dynamics functions are not well-aligned to task requirements.
Real-time obstacle avoidance for manipulators and mobile robots
Oussama Khatib · 1986
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A unified approach for motion and force control of robot manipulators: The operational space formulation
Oussama Khatib · 1987
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Controlled lagrangians and the stabilization of mechanical systems. i. the first matching theorem
A.M. Bloch, N.E. Leonard, and J.E. Marsden · 2000
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Controlled lagrangians and the stabilization of mechanical systems. ii. potential shaping
A.M. Bloch, Dong Eui Chang, N.E. Leonard, and J.E. Marsden · 2001
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Introduction to robotics: mechanics and control
John J Craig · 2005
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Classical Mechanics
J.R. Taylor · 2005
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Robot modeling and control , volume 3
Mark W Spong, Seth Hutchinson, Mathukumalli Vidyasagar, et al · 2006
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Lyapunov-based control of robotic systems
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A riemannian geometry theory of human movement: The geodesic synergy hypothesis
Peter D Neilson, Megan D Neilson, and Robin T Bye · 2015
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Nathan D Ratliff, Jan Issac, Daniel Kappler, Stan Birchfield, and Dieter Fox · 2018
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Geometric control of mechanical systems: modeling, analysis, and design for simple mechanical control systems , volume 49
Francesco Bullo and Andrew D Lewis · 2019
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Composable Geometric Motion Policies using Multi-Task Pullback Bundle Dynamical Systems
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Isaac gym: High performance gpu-based physics simulation for robot learning
Viktor Makoviychuk, Lukasz Wawrzyniak, Yunrong Guo, Michelle Lu, Kier Storey, Miles Macklin, David Hoeller, Nikita Rudin, Arthur Allshire, Ankur Handa, et al · 2021
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Generalized nonlinear and finsler geometry for robotics
Nathan D. Ratliff, Karl Van Wyk, Mandy Xie, Anqi Li, and Muhammad Asif Rana · 2021
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A riemannian take on human motion analysis and retargeting
Holger Klein, Noémie Jaquier, Andre Meixner, and Tamim Asfour · 2022
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Geometric fabrics: Generalizing classical mechanics to capture the physics of behavior
Karl Van Wyk, Man Xie, Anqi Li, Muhammad Asif Rana, Buck Babich, Bryan Peele, Qian Wan, Iretiayo Akinola, Balakumar Sundaralingam, Dieter Fox, et al · 2022
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Non-smooth newton methods for deformable multi-body dynamics
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Nathan D. Ratliff, Karl Van Wyk, Mandy Xie, Anqi Li, and Asif Muhammad Rana · 2020
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Neural geometric fabrics: efficiently learning high-dimensional policies from demonstration
Mandy Xie, Karl Van Wyk, Ankur Handa, Stephen Tyree, Dieter Fox, Harish Ravichandar, and Nathan D. Ratliff · 2022
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