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- W4226208812 abstract "The details of second-order partial derivatives of rigid-body Inverse/Forward dynamics are provided. Several properties and identities using Spatial Vector Algebra are listed, along with their detailed derivations. The expressions build upon previous work by the author on first-order partial derivatives of inverse dynamics. The first/second-order derivatives are also extended for systems with external forces. Finally, the KKT Forward dynamics and Impact dynamics derivatives are derived." @default.
- W4226208812 created "2022-05-05" @default.
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- W4226208812 date "2022-03-01" @default.
- W4226208812 modified "2023-10-14" @default.
- W4226208812 title "Details of Second-Order Partial Derivatives of Rigid-Body Inverse Dynamics" @default.
- W4226208812 doi "https://doi.org/10.48550/arxiv.2203.00679" @default.
- W4226208812 hasPublicationYear "2022" @default.
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