Newton Euler

Newton-Euler methods are fundamental for modeling the dynamics of multibody systems, particularly robots and other articulated structures. Current research focuses on improving the efficiency and applicability of these methods, addressing challenges like high computational costs in systems with deformable bodies or kinematic loops through techniques such as singularly perturbed control and generalized recursive algorithms. These advancements are crucial for accurate simulation and control of complex robotic systems, enabling applications such as on-orbit servicing and the development of more sophisticated legged robots. The development of robust and computationally efficient Newton-Euler formulations remains a key area of ongoing research.