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traversaro / traversaro-phd-thesis

Modelling, Estimation and Identification of Humanoid Robots Dynamics: Silvio Traversaro's PhD Thesis.
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Fix Eq 2.78 gravity term for mixed-acceleration dynamics #20

Closed prashanthr05 closed 3 years ago

prashanthr05 commented 3 years ago

Screenshot from 2021-01-08 16-02-41

There seems to be an unintended $R^T$ in front of $g$.

prashanthr05 commented 3 years ago

cc @lrapetti