Adapting Rigid-Body Dynamics Derivatives for Constraint Embedding Closed-Chain Models

arXiv:2609.21024 · cs.RO · Submitted 2026-09-17 · Read on arXiv

cs.RO

Submitted: 2026-09-17

Updated: 2026-09-17

Terminology

• Inverse Dynamics — 13× in this paper
• Accuracy — 5× in this paper · explained in 1 episode
• Benchmark — 2× in this paper · explained in 2 episodes
• Clustering — 2× in this paper · explained in 2 episodes
• Generalization — 2× in this paper · explained in 13 episodes
• Benchmarking — 1× in this paper · explained in 3 episodes
• Digital Object Identifier — 1× in this paper
• Fidelity — 1× in this paper · explained in 2 episodes
• Model Predictive Control (MPC) — 1× in this paper · explained in 5 episodes
• National Science Foundation — 1× in this paper
• Physical Constraints — 1× in this paper · explained in 7 episodes
• Sparsity — 1× in this paper · explained in 4 episodes
• System Identification — 1× in this paper · explained in 3 episodes

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