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October 12, 2025Applied MechanicsOpen Access

Modeling Kinematic and Dynamic Structures with Hypergraph-Based Formalism

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Authors

CHCsaba HajduNHNorbert Hegyi

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Overview

This framework addresses existing modeling limitations, reduces verbosity by 50%, suggesting a modular simulation approach.

Key Points

  • The hypergraph-based formalism offers a significant reduction in model verbosity, providing a more compact representation.
  • Experiments demonstrate a 50% reduction compared to URDF and 20% reduction compared to MuJoCo-XML descriptions.
  • The approach enables the representation of complex mechanical constraints using hyperedges for enhanced expressiveness.
  • Derived state-space equations are presented for models of robotic arms and quarter vehicles showcasing utility.

Cite This Study

Hajdu et al. (2025) studied this question.

synapsesocial.com/papers/68ebe3d6becc64ad52fdac98https://doi.org/10.3390/applmech6040074
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