Corpus ID: 16433563

A Domain Specific Language for kinematic models and fast implementations of robot dynamics algorithms

@article{Frigerio2013ADS,
  title={A Domain Specific Language for kinematic models and fast implementations of robot dynamics algorithms},
  author={Marco Frigerio and Jonas Buchli and Darwin G. Caldwell},
  journal={ArXiv},
  year={2013},
  volume={abs/1301.7190}
}
  • Marco Frigerio, Jonas Buchli, Darwin G. Caldwell
  • Published in ArXiv 2013
  • Computer Science
  • Rigid body dynamics algorithms play a crucial role in several components of a robot controller and simulations. Real time constraints in high frequency control loops and time requirements of specific applications demand these functions to be very efficient. Despite the availability of established algorithms, their efficient implementation for a specific robot still is a tedious and error-prone task. However, these components are simply necessary to get high performance controllers. To achieve… CONTINUE READING

    Citations

    Publications citing this paper.
    SHOWING 1-10 OF 20 CITATIONS

    RoboX: An End-to-End Solution to Accelerate Autonomous Control in Robotics

    VIEW 1 EXCERPT
    CITES BACKGROUND

    Linking Rules and Conceptual Model in a Domain Specific Language

    References

    Publications referenced by this paper.
    SHOWING 1-10 OF 24 REFERENCES

    Rigid Body Dynamics Algorithms

    VIEW 9 EXCERPTS
    HIGHLY INFLUENTIAL

    Spatial Vectors and Rigid-Body Dynamics [online]. Available from: http://users.cecs.anu.edu.au/ ̃roy/spatial/index.html [accessed on 2011.07.25

    • Roy Featherstone
    • 2011
    VIEW 1 EXCERPT

    The Open Dynamics Engine simulation library [online]. Available from: www.ode.org [accessed on 2011.07.25

    • Russell Smith
    • 2011
    VIEW 1 EXCERPT

    A Beginner's Guide to 6-D Vectors (Part 1)

    VIEW 1 EXCERPT

    A Beginner's Guide to 6-D Vectors (Part 2) [Tutorial]

    VIEW 2 EXCERPTS

    BRICS - Best practice in robotics

    VIEW 2 EXCERPTS