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I'm reading at the moment this paper, but I'm not clear with some steps the do:

On page 5:

  • When I differentiate $\dot{\mu}$ by $mu$ there should be also $ -M_q w_q$ in the A matrix at position 0,0? They have only $-\hat{I}_{w\times}$ there.

  • How do they get $-\hat{I}_{a\times} R(\hat{q})$ as solution for $\frac{d \dot{v}}{d \mu}$ ?

Do anybody know how I derive this linearization?

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