A differentiable dynamic modeling approach to integrated motion planning and actuator physical design for mobile manipulators
Sign Up to like & getrecommendations! Published in 2024 at "Journal of Field Robotics"
DOI: 10.1002/rob.22394
Abstract: This paper investigates the differentiable dynamic modeling of mobile manipulators to facilitate efficient motion planning and physical design of actuators, where the actuator design is parameterized by physically meaningful motor geometry parameters. The proposed differentiable… read more here.
Keywords: dynamic modeling; actuator design; differentiable dynamic; design ... See more keywords
A Differentiable Dynamic Model for Musculoskeletal Simulation and Exoskeleton Control
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DOI: 10.3390/bios12050312
Abstract: An exoskeleton, a wearable device, was designed based on the user’s physical and cognitive interactions. The control of the exoskeleton uses biomedical signals reflecting the user intention as input, and its algorithm is calculated as… read more here.
Keywords: system; differentiable dynamic; dynamic model; model musculoskeletal ... See more keywords