Implicit Contact Dynamics Modeling With Explicit Inertia Matrix Representation for Real-Time, Model-Based Control in Physical Environment

DOI10.1162/NECO_A_01465MaRDI QIDQ5037152zbMATH OpenOpenAlexFDO

Authors Takeshi Itoh, Koji Ishihara, Jun Morimoto

Publication date 25 February 2022

Published in Neural Computation (Search for Journal in Brave)

Copyright license Creative Commons Attribution-NonCommercial 4.0 International

Full work available at URL https://doi.org/10.1162/neco_a_01465

Mathematics Subject Classification ID

Learning and adaptive systems in artificial intelligence (68T05) Automated systems (robots, etc.) in control theory (93C85) Model predictive control (93B45)

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Cited in

(2)

• A physics-based and data-driven hybrid modeling method for accurately simulating complex contact phenomenon
• Matrix formalism used to describe the inertial properties in multibody dynamics

Describes a project that uses

Uses Software

• PILCO
• Chainer

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