Exploiting Sparsity in Operational-space Dynamics
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Description
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]
Collections | ANU Research Publications |
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Date published: | 2010 |
Type: | Journal article |
URI: | http://hdl.handle.net/1885/58551 |
Source: | The International Journal of Robotics Research |
DOI: | 10.1177/0278364909357644 |
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File | Description | Size | Format | Image |
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01_Featherstone_Exploiting_Sparsity_in_2010.pdf | 502.96 kB | Adobe PDF | Request a copy |
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