Welcome to the Distinguished Lecture Series

Dr. Ajay Sathya, Marie Skłodowska-Curie Postdoctoral Fellow, Inria and École Normale Supérieure, Paris

 This talk presents recent algorithmic advances that accelerate robot dynamics simulation and control by exploiting structure and reducing computational complexity. We introduce a family of low-complexity algorithms for simulating constrained rigid-body systems, including novel recursive methods that can address kinematic loops and are robust to singularities. Building on these foundations, we show how these algorithms lead to fast and scalable solutions to core robotics problems such as differential inverse kinematics, frictional contact simulation and trajectory optimization. Together, these contributions enable efficient online computation for control and planning in high-dimensional robotic systems.