This video presents a full Lagrangian analysis of a pendulum attached to a moving cart. You’ll learn how to choose generalized coordinates, construct the Lagrangian, and derive the coupled equations ...

Explore the Lagrangian formulation of a uniform chain sliding off a table. This video breaks down generalized coordinates, kinetic and potential energy, and equations of motion for a clear and ...

Abstract: This paper covers the modeling and nonlinear attitude control of the Cubli, a cube with three reaction wheels mounted on orthogonal faces that becomes a reaction wheel based 3D inverted ...

Abstract: It has been long known that the Euler–Lagrange dynamical equations of fixed-base manipulators with single-degree-of-freedom joints can be formulated on Lie groups following exponential joint ...