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- Publications
- Influence

Centroidal dynamics of a humanoid robot

- D. Orin, A. Goswami, S. Lee
- Computer Science
- Auton. Robots
- 1 October 2013

The center of mass (CoM) of a humanoid robot occupies a special place in its dynamics. As the location of its effective total mass, and consequently, the point of resultant action of gravity, the CoM… Expand

A compliant contact model with nonlinear damping for simulation of robotic systems

- D. Marhefka, D. Orin
- Computer Science
- IEEE Trans. Syst. Man Cybern. Part A
- 1 November 1999

Contact modeling is an important aspect of simulation of many robotic tasks. In the paper, a compliant contact model with nonlinear damping is investigated, and many previously unknown… Expand

Robot dynamics: equations and algorithms

- R. Featherstone, D. Orin
- Computer Science
- Proceedings ICRA. Millennium Conference. IEEE…
- 24 April 2000

This paper reviews some of the accomplishments in the field of robot dynamics research, from the development of the recursive Newton-Euler algorithm to the present day. Equations and algorithms are… Expand

Efficient algorithm for optimal force distribution-the compact-dual LP method

An efficient algorithm, the compact-dual linear programming (LP) method, is presented to solve the force distribution problem. In this method, the general solution of the linear equality constraints… Expand

Centroidal Momentum Matrix of a humanoid robot: Structure and properties

- D. Orin, A. Goswami
- Computer Science, Mathematics
- IEEE/RSJ International Conference on Intelligent…
- 14 October 2008

The centroidal momentum of a humanoid robot is the sum of the individual link momenta, after projecting each to the robotpsilas Center of Mass (CoM). Centroidal momentum is a linear function of the… Expand

Efficient dynamic simulation of an underwater vehicle with a robotic manipulator

- S. McMillan, D. Orin, R. McGhee
- Computer Science
- IEEE Trans. Syst. Man Cybern.
- 1 August 1995

In this paper, an efficient dynamic simulation algorithm is developed for an underwater robotic vehicle (URV) with a manipulator. It is based on previous work on efficient O(N) algorithms, where N is… Expand

High-speed humanoid running through control with a 3D-SLIP model

- Patrick M. Wensing, D. Orin
- Computer Science
- IEEE/RSJ International Conference on Intelligent…
- 1 November 2013

This paper presents new methods to control highspeed running in a simulated humanoid robot at speeds of up to 6.5 m/s. We present methods to generate compliant target CoM dynamics through the use of… Expand

Omnidirectional supervisory control of a multilegged vehicle using periodic gaits

A novel algorithm is described for omnidirectional control of a multilegged robot vehicle using periodic gaits. The vehicle model is chosen from a hexapod robot vehicle, named the Adaptive Suspension… Expand