Reference for kinematics and dynamics

Discussion in 'Simulation' started by Jongwoo Lee, Mar 24, 2018.

  1. Hello, Emo,

    Although we have a nice documentation for MuJoCo, I think it is often confusing and hard to fully understand it.

    At this point, I think that if you could provide us with a reference textbook that you mostly refer to for building the MuJoCo, that would be awesome for the users to quickly understand the notations (and mathmatics behind). I think I have seen somewhere in the documentation that R.Featherstone's 6D kinematics is useful but I'm not sure....

    I would greatly appreciate if you reply to this post with the reference!
  2. Emo Todorov

    Emo Todorov Administrator Staff Member

    There is a list of references in the documentation here:

    Featherstone's book is the best reference for multi-joint dynamics. The treatment of contacts and other constraints is based on my own work, and I never wrote a textbook on it, so the best source is the Computation chapter in the documentation. A brief version is available in this paper:

    Convex and analytically-invertible dynamics with contacts and constraints: Theory and implementation in MuJoCo
    Todorov E (2014). In International Conference on Robotics and Automation

  3. Thank you!