Concepedia

Floating-base Dynamics

Floating-Base Dynamics is a rigid body dynamics formulation that models the motion of a multibody system with a freely moving base by propagating spatial forces and accelerations through a Newton-Euler recursive algorithm without assuming a fixed inertial reference.

112

Publications

4.7K

Citations

324

Authors

134

Institutions

Publications per year

2017–2026

47

Parents

Publications

112

On the motion of floating bodies II. Simple harmonic motions

Fritz John · Communications on Pure and Applied Mathematics · 1950 · 411 citations

, , +14

On the nature of control algorithms for free-floating space manipulators

E. Papadopoulos, Steven Dubowsky · IEEE Transactions on Robotics and Automation · 1991 · 284 citations · Full text

, , +17

Design of a Momentum-Based Control Framework and Application to the Humanoid Robot Atlas

Twan Koolen, Sylvain Bertrand, Gray C. Thomas et al. · International Journal of Humanoid Robotics · 2016 · 255 citations

, , +17

Optimal distribution of contact forces with inverse-dynamics control

Ludovic Righetti, Jonas Buchli, Michael Mistry et al. · The International Journal of Robotics Research · 2013 · 195 citations

, , +17

Impact analysis and post-impact motion control issues of a free-floating Space robot subject to a force impulse

Dragomir N. Nenchev, Kazuya Yoshida · IEEE Transactions on Robotics and Automation · 1999 · 170 citations · Full text

, , +17

1–5 of 112

Authors

324

  1. KY
    Kazuya Yoshida

    Tohoku University, Japan

    6 publications · 352 citations

    6

    h-index

  2. DN
    Dragomir N. Nenchev

    Tohoku University, Japan

    6 publications · 327 citations

    6

    h-index

  3. CO
    Christian Ott

    Deutsches Zentrum für Luft- und Raumfahrt e. V. (DLR), Germany

    5 publications · 137 citations

    5

    h-index

  4. YX
    Yangsheng Xu

    Chinese University of Hong Kong, Hong Kong SAR China

    5 publications · 206 citations

    5

    h-index

  5. LR
    Ludovic Righetti

    Max Planck Institute for Intelligent Systems, Germany

    4 publications · 378 citations

    4

    h-index

1–5 of 324

Institutions

134

  1. Deutsches Zentrum für Luft- und Raumfahrt e. V. (DLR)

    Cologne, Germany

    7 h-index

    21 publications

    798 citations

  2. Harbin Institute of Technology

    Harbin, China

    7 h-index

    25 publications

    1K citations

  3. Carnegie Mellon University

    Pittsburgh, United States

    6 h-index

    11 publications

    243 citations

  4. Italian Institute of Technology

    Genoa, Italy

    5 h-index

    11 publications

    422 citations

  5. University of Southern California

    Los Angeles, United States

    5 h-index

    11 publications

    1.1K citations

  6. Centre National de la Recherche Scientifique

    Paris, France

    5 h-index

    16 publications

    502 citations

  7. Technical University of Munich

    Munich, Germany

    5 h-index

    7 publications

    163 citations

  8. Tohoku University

    Sendai, Japan

    5 h-index

    12 publications

    449 citations

1–8 of 134

Venues

  1. Ocean Engineering

    7 publications · 289 citations

    7

    h-index

  2. Marine Structures

    5 publications · 202 citations

    5

    h-index

  3. IEEE/ASME Transactions on Mechatronics

    2 publications · 66 citations

    4

    h-index

  4. Frontiers in Robotics and AI

    3 publications · 70 citations

    3

    h-index

  5. Applied Ocean Research

    3 publications · 129 citations

    3

    h-index

1–5