1 code implementation • 30 Mar 2021 • Keenon Werling, Dalton Omens, Jeongseok Lee, Ioannis Exarchos, C. Karen Liu
We present a fast and feature-complete differentiable physics engine, Nimble (nimblephysics. org), that supports Lagrangian dynamics and hard contact constraints for articulated rigid body simulation.
no code implementations • ICLR 2019 • Gilwoo Lee, Brian Hou, Aditya Mandalika, Jeongseok Lee, Sanjiban Choudhury, Siddhartha S. Srinivasa
Addressing uncertainty is critical for autonomous systems to robustly adapt to the real world.
1 code implementation • 9 Sep 2016 • Jeongseok Lee, C. Karen Liu, Frank C. Park, Siddhartha S. Srinivasa
Our key contribution is to derive a recursive algorithm that evaluates DEL equations in $O(n)$, which scales up well for complex multibody systems such as humanoid robots.
Robotics
