Exploiting Sparsity in Operational-space Dynamics
| dc.contributor.author | Featherstone, Roy | |
| dc.date.accessioned | 2015-12-10T22:44:19Z | |
| dc.date.issued | 2010 | |
| dc.date.updated | 2016-02-24T11:00:47Z | |
| dc.description.abstract | 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 the basic matrix method, and 1.6 times faster than the efficient low-order algorithm of Rodriguez et al. Furthermore, cost savings of more than 50,000 arithmetic operations are obtained in the calculation of the inertia-weighted pseudoinverse of the task Jacobian and its null-space projection matrix. Additional examples are considered briefly, in order to further compare the new method with the algorithm of Rodriguez et al. | |
| dc.identifier.issn | 1741-3176 | |
| dc.identifier.uri | http://hdl.handle.net/1885/58551 | |
| dc.publisher | Sage Publications Inc | |
| dc.source | The International Journal of Robotics Research | |
| dc.subject | Keywords: Arithmetic operations; Basic matrices; Cost saving; Example based; Humanoid robot; humanoids; Inertia matrix; Intertia; Jacobians; Kinematic tree; Projection matrix; Pseudo-inverses; robot dynamics; Space dynamics; Anthropomorphic robots; Jacobian matrice brain-induced sparsity; humanoids; operational-space intertia; robot dynamics | |
| dc.title | Exploiting Sparsity in Operational-space Dynamics | |
| dc.type | Journal article | |
| local.bibliographicCitation.issue | 10 | |
| local.bibliographicCitation.lastpage | 1368 | |
| local.bibliographicCitation.startpage | 1353 | |
| local.contributor.affiliation | Featherstone, Roy, College of Engineering and Computer Science, ANU | |
| local.contributor.authoremail | repository.admin@anu.edu.au | |
| local.contributor.authoruid | Featherstone, Roy, u4031973 | |
| local.description.embargo | 2037-12-31 | |
| local.description.notes | Imported from ARIES | |
| local.identifier.absfor | 090602 - Control Systems, Robotics and Automation | |
| local.identifier.absseo | 970109 - Expanding Knowledge in Engineering | |
| local.identifier.ariespublication | u4334215xPUB447 | |
| local.identifier.citationvolume | 29 | |
| local.identifier.doi | 10.1177/0278364909357644 | |
| local.identifier.scopusID | 2-s2.0-77956737837 | |
| local.identifier.uidSubmittedBy | u4334215 | |
| local.type.status | Published Version |
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