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Painless Differentiable Rotation Dynamics

Magí Romanyà Serrasolsas, Juan J. Casafranca, Miguel A. Otaduy

We propose the formulation of forward and differentiable rigid-body dynamics using Lie-algebra rotation derivatives. In particular, we show how this approach can easily be applied to incremental-potential formulations of forward dymamics, and we introduce a novel definition of adjoints for differentiable dynamics. In contrast to other parameterizations of rotations (notably the popular rotation-vector parameterization), our approach leads to painlessly simple and compact derivatives, better conditioning, and higher runtime efficiency. We demonstrate our approach on fundamental rigid-body problems, but also on Cosserat rods as an example of multi-rigid-body dynamics.

Painless Differentiable Rotation Dynamics

Posted by christopherbatty on May 26th, 2025 Posted in Uncategorized

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