Before revision: The growth of model-based control strategies for robotics platforms has led to the need for additional rigid-body-dynamics algorithms to support their operation. Toward addressing this need, this article summarizes efficient numerical methods to compute the Coriolis matrix and underlying Christoffel Symbols (of the first kind) for tree-structure rigid-body systems.
After revision: This article presents methods to efficiently compute the Coriolis matrix and underlying Christoffel Symbols (of the first kind) for tree-structure rigid-body systems.