Encoding Physical Constraints in Differentiable Newton-Euler Algorithm

Giovanni Sutanto, Austin S. Wang, Yixin Lin, Mustafa Mukadam, Gaurav S. Sukhatme, Akshara Rai, Franziska Meier

Abstract: The recursive Newton-Euler Algorithm (RNEA) is a popular technique in robotics for computing the dynamics of robots. The computed dynamics can then be used for torque control with inverse dynamics,...