Structure-Based Computational Modeling Architecture for Robotics
نویسنده
چکیده
We describe a computational architecture for meeting a diverse range of robot modeling needs encompassing analysis, simulation and embedded modeling for robotic systems. The architecture builds upon the spatial operator algebra theoretical framework for computational dynamics. It allows applications to meet the broad range of computational modeling needs coherently and with fast, structure-based computational algorithms. The paper describes the SOA computational architecture, the DARTS computational dynamics software, and application modeling layers.
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