BibTeX
@ARTICLE{sathya_constrainedABA_2024,
author={Sathya, Ajay Suresha and Carpentier, Justin},
journal={IEEE Transactions on Robotics},
title={Constrained Articulated Body Dynamics Algorithms},
year={2025},
volume={41},
number={},
pages={430-449},
keywords={Heuristic algorithms;Robots;Robot kinematics;Symmetric matrices;Vectors;Prediction algorithms;Kinematics;Computational efficiency;Computational complexity;Symbols;Direct/inverse dynamics formulation;dynamics;humanoid robots;optimization and optimal control},
doi={10.1109/TRO.2024.3502515}}