Analytical differentiation of the articulated-body algorithm: a geometric multilinear approach

نویسندگان

چکیده

This paper presents a new geometric algorithm to efficiently compute the analytical differentiation of Articulated-body Algorithm (ABA) with respect state variables. Despite fact that ABA solves forward-dynamics problem in linear time for branched-multibody systems, its explicit is not straightforward, and computationally demanding tensor products contractions appear. The proposed makes use Lie algebraic multilinear operations recursively exploit underlying sparsity linearization problem. As result, arithmetic complexity dramatically reduced without affecting solution. Since linealization forward dynamics great importance robot-trajectory optimization, differential dynamic programming solver employed demonstrate performance our humanoid robot models such as NAO HRP-2. In addition, we provide computational cost different robots using an optimized C++ implementation can be found at https://github.com/garechav/geombd_crtp.git .

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ژورنال

عنوان ژورنال: Multibody System Dynamics

سال: 2023

ISSN: ['1384-5640', '1573-272X']

DOI: https://doi.org/10.1007/s11044-023-09907-7