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Exploiting Sparsity in Operational-space Dynamics

Featherstone, Roy


This paper presents a new method for calculating operational-space inertia matrices, and other related quantities, for branched kinematic trees. It is based on the exploitation of branch-induced sparsity in the joint-space inertia matrix and the task Jacobian. Detailed cost figures are given for the new method, and its efficacy is demonstrated by means of a realistic example based on the ASIMO Next-Generation humanoid robot. In this example, the new method is shown to be 6.7 times faster than...[Show more]

CollectionsANU Research Publications
Date published: 2010
Type: Journal article
Source: The International Journal of Robotics Research
DOI: 10.1177/0278364909357644


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