Presentation
Painless Differentiable Rotation Dynamics
SessionRigid Bodies & Contacts
DescriptionThis work introduces a forward and differentiable rigid-body dynamics framework using Lie-algebra rotation derivatives. The approach offers simplified, compact derivatives, improved conditioning, and higher efficiency compared to traditional methods. Applications include fundamental rigid-body problems and Cosserat rods, showcasing its potential for multi-rigid-body dynamics and incremental-potential formulations.
Event Type
Technical Paper
TimeThursday, 14 August 20252:20pm - 2:30pm PDT
LocationWest Building, Rooms 118-120
ACM Digital Library
Journal Papers' PDFs
Conference Papers' PDFs
Conference Papers' PDFs
Session Time & Location
Sunday, 10 August 20256:00pm - 8:45pm PDTWest Building, Ballroom AB
Thursday, 14 August 20252:00pm - 3:30pm PDTWest Building, Rooms 118-120
Livestreamed
Recorded
