Inverse, forward and other dynamic computations computationally optimized with sparse matrix factorizations

  title={Inverse, forward and other dynamic computations computationally optimized with sparse matrix factorizations},
  author={Francesco Nori},
  journal={2017 IEEE International Conference on Real-time Computing and Robotics (RCAR)},
  • F. Nori
  • Published 12 May 2017
  • Computer Science
  • 2017 IEEE International Conference on Real-time Computing and Robotics (RCAR)
We propose an algorithm to compute the dynamics of articulated rigid-bodies with different sensor distributions. Prior to the on-line computations, the proposed algorithm performs an off-line optimisation step to simplify the computational complexity of the underlying solution. This optimisation step consists in formulating the dynamic computations as a system of linear equations. The computational complexity of computing the associated solution is reduced by performing a permuted LU… 

Figures from this paper

A Unified Method for Solving Inverse, Forward, and Hybrid Manipulator Dynamics using Factor Graphs
Factor graphs is introduced as a unifying graphical language in which not only to solve all types of dynamics problems, but also explain the classical dynamics algorithms in a unified framework.
Sensor Fusion and State Estimation of the Robot


Rigid Body Dynamics Algorithms
Rigid Body Dynamics Algorithms presents the subject of computational rigid-body dynamics through the medium of spatial 6D vector notation to facilitate the implementation of dynamics algorithms on a computer: shorter, simpler code that is easier to write, understand and debug, with no loss of efficiency.
Algorithm 832: UMFPACK V4.3---an unsymmetric-pattern multifrontal method
An ANSI C code for sparse LU factorization is presented that combines a column pre-ordering strategy with a right-looking unsymmetric-pattern multifrontal numerical factorization, and an upper bound on fill-in, work, and memory usage is computed.
Recursive approach in sparse matrix LU factorization
Performance results given here show that the recursive approach may perform comparable to leading software packages for sparse matrix factorization in terms of execution time, memory usage, and error estimates of the solution.
Optimization-based locomotion planning, estimation, and control design for the atlas humanoid robot
This paper describes a collection of optimization algorithms for achieving dynamic planning, control, and state estimation for a bipedal robot designed to operate reliably in complex environments and presents a state estimator formulation that permits highly precise execution of extended walking plans over non-flat terrain.
Hypergraph-Based Unsymmetric Nested Dissection Ordering for Sparse LU Factorization
A hypergraph-based unsymmetric nested dissection (HUND) ordering for reducing the fill-in incurred during Gaussian elimination is discussed, which provides a robust reordering algorithm in the sense that it is the best or close to the best (often within 10%) of all the other methods, in particular on matrices with highly unsyMMetric structures.
A Unified View of the Equations of Motion used for Control Design of Humanoid Robots The Role of the Base Frame in Free-Floating Mechanical Systems and its Connection to Centroidal Dynamics
This paper contributes towards the development of a unified standpoint on the equations of motion used for the control of free-floating mechanical systems. In particular, the contribution of the
Dynamic analysis of robot manipulators - a Cartesian tensor approach
A Cartesian Tensor Approach for Solving the IDP and a Recursive Lagrangian Formulation on Moment Vectors and Generalized Forces.
Obtaining a Triangular Matrix by Independent Row-Column Permutations
An exponential-time algorithm is presented for solving the problem of deciding whether there exists a permutation of the rows and the columns of A such that, after these have been carried out, the resulting matrix is triangular, and it is proved that the problem is NP-complete.
Mechatronic design of NAO humanoid
The mechatronic design of the autonomous humanoid robot called NAO that is built by the French company Aldebaran-Robotics is presented, which has been designed to be affordable without sacrificing quality and performance.