RBDL: an efficient rigid-body dynamics library using recursive algorithms

In our research we use rigid-body dynamics and optimal control methods to generate 3-D whole-body walking motions. For the dynamics modeling and computation we created RBDL —the Rigid Body Dynamics Library. It is a self-contained free open-source software package that implements state of the art dyn...

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Vydáno v:Autonomous robots Ročník 41; číslo 2; s. 495 - 511
Hlavní autor: Felis, Martin L.
Médium: Journal Article
Jazyk:angličtina
Vydáno: New York Springer US 01.02.2017
Springer Nature B.V
Témata:
Algorithms
Angular momentum
Angular velocity
Artificial Intelligence
Computer Imaging
Control
Control methods
Data structures
Engineering
Freeware
Jacobians
Libraries
Mechatronics
Operators (mathematics)
Optimal control
Pattern Recognition and Graphics
Rigid structures
Rigid-body dynamics
Robotics
Robotics and Automation
Source code
Three dimensional bodies
Vision
Jacobian
Software
Reduced coordinates
Rigid-body dynamics
Contact
ISSN:0929-5593, 1573-7527
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Shrnutí:In our research we use rigid-body dynamics and optimal control methods to generate 3-D whole-body walking motions. For the dynamics modeling and computation we created RBDL —the Rigid Body Dynamics Library. It is a self-contained free open-source software package that implements state of the art dynamics algorithms including external contacts and collision impacts. It is based on Featherstone’s spatial algebra notation and is implemented in C++ using highly efficient data structures that exploit sparsities in the spatial operators. The library contains various helper methods to compute quantities, such as point velocities, accelerations, Jacobians, angular and linear momentum and others. A concise programming interface and minimal dependencies makes it suitable for integration into existing frameworks. We demonstrate its performance by comparing it with state of the art dynamics libraries both based on recursive evaluations and symbolic code generation.
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ISSN:0929-5593
1573-7527
DOI:10.1007/s10514-016-9574-0