search

traversaro / traversaro-phd-thesis

Modelling, Estimation and Identification of Humanoid Robots Dynamics: Silvio Traversaro's PhD Thesis.
9 stars 4 forks source link

Chapter 2 Equation 2.78 & 2.75 typo #7

Closed lrapetti closed 3 years ago

lrapetti commented 4 years ago

In the Newton-Euler equation for the rigid body in Mixed acceleration, the acceleration is written as right-trivialized ($^A \dot{\mathrm{v}}_{A,B}$) instead of mixed ($^{B[A]} \dot{\mathrm{v}}_{A,B}$)

prashanthr05 commented 4 years ago

Chapter 2 Equation 2.75 has an additional $\mathbb{M}$

traversaro commented 4 years ago

Given the new CI system, I also accept pull requests that once accepter will be automatically reflected in the generated PDF at https://github.com/traversaro/phd-thesis/pull/9 .

lrapetti commented 3 years ago

Chapter 2 Equation 2.75 has an additional M

in the same equation it is also missing a sign "-" before the gravity term.

Furthermore, in 2.74 the sign "-" should be a "+" accordingly to 2.73

traversaro commented 3 years ago

Fixed in https://github.com/traversaro/phd-thesis/pull/19 by @lrapetti , thanks!