A reduced-order recursive algorithm for the computation of the operational-space inertia matrix

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dc.contributor.authorWensing, Patrick
dc.contributor.authorFeatherstone, Roy
dc.contributor.authorOrin, David
dc.coverage.spatialSaint Paul USA
dc.date.accessioned2015-12-13T22:17:33Z
dc.date.createdMay 14-18 2012
dc.date.issued2012
dc.date.updated2016-02-24T09:00:39Z
dc.description.abstractThis paper provides a reduced-order algorithm, the Extended-Force- Propagator Algorithm (EFPA), for the computation of operational-space inertia matrices in branched kinematic trees. The algorithm accommodates an operational space of multiple end-effectors, and is the lowest-order algorithm published to date for this computation. The key feature of this algorithm is the explicit calculation and use of matrices that propagate a force across a span of several links in a single operation. This approach allows the algorithm to achieve a computational complexity of O(N +md+m2) where N is the number of bodies, m is the number of end-effectors, and d is the depth of the system's connectivity tree. A detailed cost comparison is provided to the propagation algorithms of Rodriguez et al. (complexity O(N + dm2)) and to the sparse factorization methods of Featherstone (complexity O(nd2 + md2 + m2d)). For the majority of examples considered, our algorithm outperforms the previous best recursive algorithm, and demonstrates efficiency gains over sparse methods for some topologies.
dc.identifier.urihttp://hdl.handle.net/1885/71210
dc.publisherIEEE Robotics and Automation Society
dc.relation.ispartofseriesIEEE International Conference on Robotics and Automation 2012
dc.subjectKeywords: Cost comparisons; Efficiency gain; Factorization methods; Inertia matrix; Key feature; Kinematic tree; Operational space; Propagation algorithm; Recursive algorithms; Reduced order; Sparse methods; Algorithms; Forestry; Matrix algebra; Robotics; Trees (ma
dc.titleA reduced-order recursive algorithm for the computation of the operational-space inertia matrix
dc.typeConference paper
local.bibliographicCitation.lastpage4917
local.bibliographicCitation.startpage4911
local.contributor.affiliationWensing, Patrick, Ohio State University
local.contributor.affiliationFeatherstone, Roy, College of Engineering and Computer Science, ANU
local.contributor.affiliationOrin, David, Ohio State University
local.contributor.authoremailrepository.admin@anu.edu.au
local.contributor.authoruidFeatherstone, Roy, u4031973
local.description.embargo2037-12-31
local.description.notesImported from ARIES
local.description.refereedYes
local.identifier.absfor090602 - Control Systems, Robotics and Automation
local.identifier.absseo970109 - Expanding Knowledge in Engineering
local.identifier.ariespublicationf5625xPUB2610
local.identifier.doi10.1109/ICRA.2012.6224600
local.identifier.scopusID2-s2.0-84864489912
local.identifier.uidSubmittedByf5625
local.type.statusPublished Version

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