We describe a new physics engine tailored to model-based control. Multi-joint dynamics are
represented in generalized coordinates and computed via recursive algorithms. Contact …

There is growing need for software tools that can accurately simulate the complex dynamics
of modern robots. While a number of candidates exist, the field is fragmented. It is difficult to …

Motivated by the requirements of mobile manipulation, a compliant underactuated hand,
capable of locking individual joints, has been developed. Locking is accomplished with …

We describe a full-featured simulation pipeline implemented in the MuJoCo physics engine.
It includes multi-joint dynamics in generalized coordinates, holonomic constraints, dry joint …

Rigid bodies, plastic impact, persistent contact, Coulomb friction, and massless limbs are
ubiquitous simplifications introduced to reduce the complexity of mechanics models despite …

This article presents a planner to generate walking trajectories by using the centroidal
dynamics and the full kinematics of a humanoid robot. The interaction between the robot and …

This letter presents a novel contact-implicit trajectory optimization method using an
analytically solvable contact model to enable planning of interactions with hard, soft, and …

Over the past several decades, as affordable computational power has increased,
simulation has become increasingly important in robot analysis, planning, and control …

The ability to reason about and predict the outcome of contacts is paramount to the
successful execution of many robot tasks. Analytical rigid-body contact models are used …

It is well known that the dynamics of articulated rigid bodies can be solved in O (n) time
using a recursive method, where n is the number of joints. However, when elasticity is added …