“Adaptive Dynamics of Articulated Bodies: Implementation Details”
Conference:
Type:
Title:
- Adaptive Dynamics of Articulated Bodies: Implementation Details
Presenter(s)/Author(s):
Abstract:
We provide some implementation details related to the paper “Adaptive Dynamics of Articulated Bodies” [Redon et al. 2005]. Thanks to the recursive nature of the DCA [Featherstone 1999a; Featherstone 1999b], upon which our algorithm is built, the code is highly modular and an object-oriented language is highly appropriate. We have implemented the algorithm in C++.
References:
Featherstone, R. 1999. A divide-and-conquer articulated body algorithm for parallel o(log(n)) calculation of rigid body dynamics. part 1: Basic algorithm. International Journal of Robotics Research 18(9):867–875.
Featherstone, R. 1999. A divide-and-conquer articulated body algorithm for parallel o(log(n)) calculation of rigid body dynamics. part 2: Trees, loops, and accuracy. International Journal of Robotics Research 18(9):876–892.f
Redon, S., and Lin, M. C. 2005. An efficient, error-bounded approximation algorithm for simulating quasi-statics of complex linkages. In Proceedings of ACM Symposium on Solid and Physical Modeling.
Redon, S., Galoppo, N., and Lin, M. C. 2005. Adaptive dynamics of articulated bodies. In ACM Transactions on Graphics (SIGGRAPH 2005 Proceedings).
