Kinodynamics

Kinematics is the branch of mechanics that deals with the motion of objects without considering the forces that cause the motion. In contrast, kinodynamics is the branch of mechanics that deals with the motion of objects and the forces that cause the motion. Kinodynamics includes both kinematics and dynamics, and it is concerned with the study of the motion of objects and the forces that produce or affect that motion.

In robotics, kinodynamics mainly deals with the motion planning and motion control of robots, which requires taking into account the dynamics of the robot’s joints and links. Kinodynamic planning algorithms take into account the dynamics of the robot, such as its mass, inertia, and joint torque limits, when generating motion plans and controlling the robot’s movement.

In animation, kinodynamics mainly deals with the simulation of realistic motion, which requires taking into account the dynamics of the character and the environment. Kinodynamic animation algorithms use physics-based simulation to create realistic motion and interactions between characters and the environment.

So, Kinodynamics is the combination of kinematics and dynamics, and it is used to predict, control and simulate the motion of objects.