RobCoGen: a code generator for efficient kinematics and dynamics of articulated robots, based on Domain Specific Languages

@inproceedings{Frigerio2016RobCoGenAC,
  title={RobCoGen: a code generator for efficient kinematics and dynamics of articulated robots, based on Domain Specific Languages},
  author={Marco Frigerio and Jonas Buchli and Darwin G. Caldwell and Claudio Semini},
  year={2016}
}
  • Marco Frigerio, Jonas Buchli, +1 author Claudio Semini
  • Published 2016
  • Computer Science
  • This paper presents the Robotics Code Generator (RobCoGen), an open source program that can generate an efficient implementation of rigid body dynamics and kinematics algorithms for articulated robots, such as humanoids and manipulators. [...] Key Result This paper describes the rationale and the development of RobCoGen, as well as experiments that include comparisons with other programs: results show a comparable efficiency with code optimized using symbolic simplification (average execution time ratio of 1:22…Expand Abstract

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