Skip navigation
Skip navigation

Exploiting Sparsity in Operational-space Dynamics

Featherstone, Roy

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]

CollectionsANU Research Publications
Date published: 2010
Type: Journal article
URI: http://hdl.handle.net/1885/58551
Source: The International Journal of Robotics Research
DOI: 10.1177/0278364909357644

Download

File Description SizeFormat Image
01_Featherstone_Exploiting_Sparsity_in_2010.pdf502.96 kBAdobe PDF    Request a copy


Items in Open Research are protected by copyright, with all rights reserved, unless otherwise indicated.

Updated:  23 August 2018/ Responsible Officer:  University Librarian/ Page Contact:  Library Systems & Web Coordinator