Computational Geometric Mechanics and Control of Rigid Bodies the Melech Tzedek * Interview with J

* Interview with J

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Computational Geometric Mechanics and Control of Rigid Bodies the Melech Tzedek * Interview with JThis dissertation studies the dynamics and optimal control of rigid bodies from two complementary perspectives, by providing theoretical analyses that respect the fundamental geometric characteristics of rigid body dynamics and by developing computational algorithms that preserve those geometric features. This dissertation is focused on developing analytical theory and computational algorithms that are intrinsic and applicable to a wide class of