Linear-Time Dynamics for Multibody Systems with General Joint Models

dc.contributor.authorSi, Weiguangen_US
dc.contributor.authorGuenter, Brianen_US
dc.contributor.editorMZoran Popovic and Miguel Otaduyen_US
dc.date.accessioned2014-01-29T07:51:05Z
dc.date.available2014-01-29T07:51:05Z
dc.date.issued2010en_US
dc.description.abstractMost current linear-time forward dynamics algorithms support only simple types of joints due to difficulties in computing derivatives of joint transformations up to order two.We apply the D* symbolic differentiation algorithm to a recursive formulation of forward dynamics to get a highly efficient linear-time forward dynamics algorithm supporting multibody systems with general scleronomic joints. With this new algorithm we can easily build a treetopology multibody system with complex joint models and perform forward dynamics efficiently. The source code for the algorithm is freely available for non-commercial use.en_US
dc.description.seriesinformationEurographics/ ACM SIGGRAPH Symposium on Computer Animationen_US
dc.identifier.isbn978-3-905674-27-9en_US
dc.identifier.issn1727-5288en_US
dc.identifier.urihttps://doi.org/10.2312/SCA/SCA10/031-037en_US
dc.publisherThe Eurographics Associationen_US
dc.subjectCategories and Subject Descriptors (according to ACM CCS): I.3.7 [Computer Graphics]: Three-Dimensional Graphics and Realism-Animationen_US
dc.titleLinear-Time Dynamics for Multibody Systems with General Joint Modelsen_US
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