From 14cc32bbe54837b420f9ac5a255ec9ed7273c6e3 Mon Sep 17 00:00:00 2001 From: Ruiyu G Date: Thu, 22 Jun 2023 16:39:44 -0700 Subject: [PATCH] Fix typo. --- doc/computation.rst | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/doc/computation.rst b/doc/computation.rst index 22b87ee5..2fc0f2ff 100644 --- a/doc/computation.rst +++ b/doc/computation.rst @@ -108,7 +108,7 @@ optimization algorithms. Inverse dynamics and optimization ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -The objective of inverse dynamics it to recover the applied force and contact force given the position, velocity and +The objective of inverse dynamics is to recover the applied force and contact force given the position, velocity and acceleration of the multi-joint system. With hard contacts this computation is impossible. Consider pushing against a wall without moving. The contact force cannot be recovered from the kinematics, unless of course we consider the material deformations - in which case we need a soft contact model. Inverse dynamics are trivial to compute with