Andreas Mueller
2 papers · Latest:
Closed Form Relations and Higher-Order Approximations of First and Second Derivatives of the Tangent Operator on SE(3)
This paper provides closed-form expressions and higher-order approximations for the tangent operator and its derivatives on SE(3) without block partitioning.
2604.22287
RoboticsForward Dynamics of Variable Topology Mechanisms - The Case of Constraint Activation
This paper presents a novel transition condition for predicting the forward dynamics of variable topology mechanisms, crucial for systems with changing kinematic constraints.
2604.19419
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