Robot Dynamics

Robot dynamics is the branch of robotics engineering that establishes the mathematical relationships between forces and torques applied to robotic mechanisms and the resulting accelerations of their rigid-body components.

16.7K

Publications

836.4K

Citations

26.3K

Authors

3.8K

Institutions

Publications per year

2017–2026

4.7K

Variants

Robotic Dynamics

Parents

Robotics Engineering

Children

Actuator DynamicsCentrifugal EffectsContact DynamicsCoordinate TransformationsCoriolis EffectsDynamic SimulationEquations Of MotionFlexible Robot DynamicsForward DynamicsFriction Modeling

Publications

16.7K

MuJoCo: A physics engine for model-based control

Emanuel Todorov, Tom Erez, Yuval Tassa · 2012 · 4.4K citations

Engineering, Mechanical Engineering, Robotics Engineering +17

The dynamic window approach to collision avoidance

D. Fox, Wolfram Burgard, Sebastian Thrun · IEEE Robotics & Automation Magazine · 1997 · 3.6K citations

Engineering, Mechanical Engineering, Robotics Engineering +11

Impedance Control: An Approach to Manipulation: Part I—Theory

Neville Hogan · Journal of Dynamic Systems Measurement and Control · 1985 · 3.6K citations

Engineering, Mechanical Engineering, Robotics Engineering +17

Passive Dynamic Walking

Tad McGeer · The International Journal of Robotics Research · 1990 · 3.4K citations

Engineering, Mechatronics Engineering, Robotics Engineering +17

A unified approach for motion and force control of robot manipulators: The operational space formulation

Oussama Khatib · IEEE Journal on Robotics and Automation · 1987 · 2.9K citations

Engineering, Mechanical Engineering, Robotics Engineering +17

1–5 of 16.7K

Authors

26.3K

MW
Mark W. Spong
University of Illinois Urbana-Champaign, United States
62 publications · 7.8K citations
37
h-index
WH
Wei He
University of Science and Technology Beijing, China
39 publications · 7.8K citations
32
h-index
YF
Yongchun Fang
Nankai University, China
51 publications · 3.8K citations
32
h-index
AD
Alessandro De Luca
Sapienza University of Rome, Italy
50 publications · 4.2K citations
32
h-index
SS
Shuzhi Sam Ge
National University of Singapore, Singapore
54 publications · 3.9K citations
31
h-index

1–5 of 26.3K

Institutions

3.8K

1–8 of 3.8K

Venues

The International Journal of Robotics Research
IJRR · 273 publications · 39.5K citations
97
h-index
IEEE Transactions on Industrial Electronics
266 publications · 29.4K citations
96
h-index
IEEE Transactions on Robotics
257 publications · 21.1K citations
84
h-index
IEEE Transactions on Automatic Control
202 publications · 32.7K citations
82
h-index
IEEE Transactions on Robotics and Automation
182 publications · 19.4K citations
80
h-index

1–5

See also Robot Dynamics
Core Equations	Recursive Newton-euler Algorithm Equations Of Motion Euler-lagrange Equations Forward Dynamics Inverse Dynamics
Modeling Methods	Newton-euler Formulation Graph Theory Lagrangian Optimization Analytical Models Data-driven Modeling
Dynamic Parameters	Inertia Matrix Coulomb Friction Viscous Friction Model Coulomb Friction Models
Control Applications	Impedance Control Trajectory Scaling Hybrid Force Control Inverse Dynamics Whole-body Control Admittance Control
Computational Challenges	Parameter Identification Automatic Differentiation Finite Difference Methods Closed-chain Kinematics Model Predictive Control