Multibody Dynamics

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5 papers in the last four weeks, with none the four weeks before. 0.0% of all new papers.

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  1. Dynamics Modeling of a Multi-UAV Slung Load System Using a Discrete-Link Cable Approach

    Oct 5, 2026Harvey Merton, Ian W. HunterAerial RoboticsMulti-Robot Systems

    The authors are with the BioInstrumentation Laboratory, Massachusetts Institute of Technology, Cambridge, MA 02139, United States of America

  2. Screw Attention: Rigid-Body Algebra Inside a Transformer

    Oct 1, 2026Aly MagassoubaMultibody DynamicsEquivariant Neural Networks

    School of Computer Science, University of Nottingham, Nottingham, United Kingdom

  3. RoboCompiler: Graph-Native Compilation of Closed-Chain Robots for Consistent Modeling, Control, and Simulation

    Sep 28, 2026Mehdi Heydari Shahna, Joongheon Kim, Jouni MattilaRobotic ControlRobotics Simulation

    Faculty of Engineering and Natural Sciences, Tampere University, Tampere, Finland

  4. Flexible-body Modeling, Kinematic Identification, and Assembly Accuracy of Overconstrained Spatial Linkages

    Sep 15, 2026Daniel Huczala, Michael Pieber, Johannes Gerstmayr +6Mechanism DesignMultibody Dynamics

    Department of Mechanical Engineering, Ulsan National Institute of Science and Technology (UNIST), 50 UNIST-gil, Eonyang-eup, Ulju-gun, Ulsan, 44919, South Korea · Department of Machine Parts and Mechanisms, VSB – Technical University of Ostrava, 17. listopadu 2172/15, Ostrava, 70800, Czech Republic · Department of Mechatronics, University of Innsbruck, Technikerstraße 13, Innsbruck, 6020, Austria +2

  5. Ostrich: Taking Large Strides Through Stiff Contact in Differentiable Dynamics

    Sep 8, 2026Aleš Kučera, Karel ZimmermannTrajectory OptimizationContact-Rich Manipulation

    Department of Cybernetics, Faculty of Electrical Engineering, Czech Technical University in Prague, Prague, Czech Republic

  6. mjorbit: A Simulation Framework for Space Robotics

    Sep 7, 2026John Z. Zhang, Joris Verhagen, Fausto Vega +2Space RoboticsRobotics Simulation

    Department of Aeronautics and Astronautics, Massachusetts Institute of Technology · Division of Robotics, Perception and Learning, KTH Royal Institute of Technology

  7. Shooting for Contact: Contact-Implicit Multiple Shooting for Dynamic Motion Retargeting

    Aug 4, 2026Sergio A. Esteban, Jason H. K. Siu, Derrick Mach +4Trajectory OptimizationMultibody Dynamics

    Department of Mechanical and Civil Engineering, California Institute of Technology, Pasadena, CA, USA. · School of Computing, DePaul University, Chicago, IL, USA.

  8. Bridging the Sim-to-Real Gap in Parallel-Link Leg Mechanisms via Simulator-Side Dynamics Normalization

    Aug 3, 2026Jinsong Hong, Jangho Kim, Jihwan Lee +2Robotics SimulationSim-to-Real Transfer

    Department of Robotics and Mechatronics Engineering, DGIST, Daegu 42988, Republic of Korea · Artificial Intelligence Major, DGIST, Daegu, Republic of Korea · Manning College of Information and Computer Sciences, University of Massachusetts Amherst, Amherst, MA, USA

  9. A note on the motion representation and configuration update in time stepping schemes for the constrained rigid body

    Jul 27, 2026A. MüllerDynamical SystemsMultibody Dynamics

    Institute of Robotics, Johannes Kepler University, Altenbergerstr. 69, 4040 Linz, Austria

  10. Learning Forced Multibody Dynamics on Lie Groups

    Jul 14, 2026Martine Dyring Hansen, Marta Ghirardelli, Elena Celledoni +2Robot Dynamics IdentificationDynamical Systems

    Department of Mathematics and Cybernetics, SINTEF Digital Forskningsveien 1, 0373 Oslo, Norway · Department of Mathematical Sciences Norwegian University of Science and Technology (NTNU) Alfred Getz’ vei 1, 7034 Trondheim, Norway · Instituto de Ciencias Matematicas (CSIC) Calle Nicolás Cabrera 13-15, Cantoblanco, 28048 Madrid, Spain

  11. Full Nonlinear Nonholonomic Dynamics and Motion Analysis of a 3-DoF Underactuated Spherical Rolling Robot

    Jun 20, 2026Lakshmesha Krishnapa, Ahnaf Sharaar Mazahar, Seyed Amir TafrishiMobile RoboticsMultibody Dynamics

    Geometric Mechanics and Mechatronics in Robotics (gm2R) Lab, School of Engineering, Cardiff University, Cardiff CF24 3AA, United Kingdom

  12. An Opticalmechanics Framework for Dynamic Estimation of Multibody Systems

    Jun 8, 2026Banglei Guan, Xuanyu Bai, Qingquan Chen +5Dynamical SystemsMultibody Dynamics

    National University of Defense Technology

  13. Batched Differentiable Rigid Body Dynamics in PyTorch for GPU-Accelerated Robot Learning

    May 29, 2026Yue Wang, Yanran Xu, Wenbo Wu +2Multibody DynamicsRobot Dynamics Learning

    University of Southampton, Southampton, SO17 1BJ, UK

  14. How Noisy Poses Break Inverse Dynamics: Analysis and Mitigation for Video-Based Joint Torque Estimation

    May 23, 2026Donghyun Kim, Chanyoung Kim, Eunseo Jeong +2Multibody DynamicsInverse Dynamics

    Emory University · Yonsei University

  15. Motion Design for Grasp-Based Dynamic Locomotion in Microgravity

    May 20, 2026Chaerim Moon, Joohyung Kim, Justin K. YimRobotic ControlMultibody Dynamics

    Department of Mechanical Science and Engineering at the University of Illinois at Urbana-Champaign, USA.

  16. Structured Jacobian Construction for Motion Optimization with High-Order Time Derivatives in Multi-Link Systems

    May 15, 2026Taiki Ishigaki, Ko Ayusawa, Eiichi YoshidaTrajectory OptimizationMultibody Dynamics

    Tokyo University of Science · National Institute of Advanced Industrial Science and Technology

  17. RigidFormer: Learning Rigid Dynamics using Transformers

    May 9, 2026Zhiyang Dou, Minghao Guo, Haixu Wu +3Multibody Dynamics

    MIT · Meta

  18. Lie Group Formulation of Recursive Dynamics Algorithms of Higher Order for Floating-Base Robots

    May 7, 2026Ahmed Ali, Chiara Gabellieri, Antonio FranchiMultibody DynamicsRobotics

    Robotics and Mechatronics Department, Electrical Engineering, Mathematics, and Computer Science (EEMCS) Faculty, University of Twente, 7500 AE Enschede, The Netherlands. · Department of Computer, Control and Management Engineering, Sapienza University of Rome, 00185 Rome, Italy.

  19. Dynamic Coupling and Indirect Control of Jointed Robots Rolling Atop A Moving Platform

    Apr 23, 2026Hamidreza Moradi, Scott David KellyRobotic ControlRobot Trajectory Tracking

    Department of Mechanical Engineering and Engineering Science, University of North Carolina at Charlotte, Charlotte, NC 28223 USA

  20. Forward Dynamics of Variable Topology Mechanisms - The Case of Constraint Activation

    Apr 21, 2026Andreas MuellerDynamical SystemsMultibody Dynamics

    Institute of Robotics, Johannes Kepler University Altenbergerstr. 69, 4040 Linz, Austria

  21. Highly-Efficient Differentiable Simulation for Robotics

    Sep 11, 2024Quentin Le Lidec, Louis Montaut, Yann de Mont-Marin +3Robotics SimulationMultibody Dynamics

    Inria, Ecole normale sup´erieure CNRS, PSL Research University 75005 Paris, France

  22. A Dynamic Toolkit for Transmission Characteristics of Precision Reducers with Explicit Contact Geometry

    Date pendingJiacheng Miao, Chao Liu, Qiliang Wang +2Dynamical SystemsMultibody Dynamics

    Intelligent Equipment Division, CRRC Qishuyan Institute Co., Ltd, Changzhou, 213011, China · School of Mechanical Engineering, Dalian Jiaotong University, Dalian, 116028, China · Research Institute, CRRC Qishuyan Institute Co., Ltd, Changzhou, 213011, China