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Published 20 hours ago • verified publisher icon ami-iit

Implement algorithm to compute the standalone Coriolis matrix `C(q, ν)`

Open diegoferigo opened this issue 1 year ago • 4 comments

diegoferigo avatar Jun 30 '23 11:06 diegoferigo

A possible algorithm to implement is https://arxiv.org/pdf/2010.01033 .

traversaro avatar Jun 30 '23 16:06 traversaro

Thanks! I already had a look at it. Another interesting xref is https://github.com/robotology/idyntree/issues/745.

diegoferigo avatar Jun 30 '23 16:06 diegoferigo

Check out: flferretti/jaxsim @ feature/coriolis

flferretti avatar Nov 30 '23 11:11 flferretti

Now that #169 added the support of computing $\dot{J}$, I tried to compute the Coriolis matrix without implementing a new RBDA (I still have few doubts on how to handle the base-related blocks for an iterative algorithm) in #172. The computation is pretty slow, but downstream users that need this matrix for particular controllers at least can play with it.

I'll leave this issue open since an iterative algorithm is desired. Maybe someone, now that there is a ground truth, is willing enough to dig into this implementation sooner or later.

diegoferigo avatar Jun 10 '24 13:06 diegoferigo