RBDL: an efficient rigid-body dynamics library using recursive algorithms
In our research we use rigid-body dynamics and optimal control methods to generate 3-D whole-body walking motions. For the dynamics modeling and computation we created RBDL—the Rigid Body Dynamics Library. It is a self-contained free open-source software package that implements state of the art dyna...
Saved in:
| Main Author: | |
|---|---|
| Format: | Article (Journal) |
| Language: | English |
| Published: |
February 2017
|
| In: |
Autonomous robots
Year: 2017, Volume: 41, Issue: 2, Pages: 495-511 |
| ISSN: | 1573-7527 |
| DOI: | 10.1007/s10514-016-9574-0 |
| Online Access: | Verlag, Volltext: http://dx.doi.org/10.1007/s10514-016-9574-0 Verlag, Volltext: https://doi.org/10.1007/s10514-016-9574-0 
|
| Author Notes: | Martin L. Felis |
MARC
| LEADER | 00000caa a2200000 c 4500 | ||
|---|---|---|---|
| 001 | 158367201X | ||
| 003 | DE-627 | ||
| 005 | 20220815053311.0 | ||
| 007 | cr uuu---uuuuu | ||
| 008 | 181113s2017 xx |||||o 00| ||eng c | ||
| 024 | 7 | |a 10.1007/s10514-016-9574-0 |2 doi | |
| 035 | |a (DE-627)158367201X | ||
| 035 | |a (DE-576)51367201X | ||
| 035 | |a (DE-599)BSZ51367201X | ||
| 035 | |a (OCoLC)1341023490 | ||
| 040 | |a DE-627 |b ger |c DE-627 |e rda | ||
| 041 | |a eng | ||
| 084 | |a 28 |2 sdnb | ||
| 100 | 1 | |a Felis, Martin L. |e VerfasserIn |0 (DE-588)1075341558 |0 (DE-627)83320260X |0 (DE-576)443409404 |4 aut | |
| 245 | 1 | 0 | |a RBDL |b an efficient rigid-body dynamics library using recursive algorithms |c Martin L. Felis |
| 264 | 1 | |c February 2017 | |
| 300 | |a 17 | ||
| 336 | |a Text |b txt |2 rdacontent | ||
| 337 | |a Computermedien |b c |2 rdamedia | ||
| 338 | |a Online-Ressource |b cr |2 rdacarrier | ||
| 500 | |a First online: 02 June 2016 | ||
| 500 | |a Gesehen am 13.11.2018 | ||
| 520 | |a In our research we use rigid-body dynamics and optimal control methods to generate 3-D whole-body walking motions. For the dynamics modeling and computation we created RBDL—the Rigid Body Dynamics Library. It is a self-contained free open-source software package that implements state of the art dynamics algorithms including external contacts and collision impacts. It is based on Featherstone’s spatial algebra notation and is implemented in C++ using highly efficient data structures that exploit sparsities in the spatial operators. The library contains various helper methods to compute quantities, such as point velocities, accelerations, Jacobians, angular and linear momentum and others. A concise programming interface and minimal dependencies makes it suitable for integration into existing frameworks. We demonstrate its performance by comparing it with state of the art dynamics libraries both based on recursive evaluations and symbolic code generation. | ||
| 650 | 4 | |a Contact | |
| 650 | 4 | |a Jacobian | |
| 650 | 4 | |a Reduced coordinates | |
| 650 | 4 | |a Rigid-body dynamics | |
| 650 | 4 | |a Software | |
| 773 | 0 | 8 | |i Enthalten in |t Autonomous robots |d Dordrecht [u.a.] : Springer Science + Business Media B.V, 1994 |g 41(2017), 2, Seite 495-511 |h Online-Ressource |w (DE-627)271175591 |w (DE-600)1478962-0 |w (DE-576)110350499 |x 1573-7527 |7 nnas |a RBDL an efficient rigid-body dynamics library using recursive algorithms |
| 773 | 1 | 8 | |g volume:41 |g year:2017 |g number:2 |g pages:495-511 |g extent:17 |a RBDL an efficient rigid-body dynamics library using recursive algorithms |
| 856 | 4 | 0 | |u http://dx.doi.org/10.1007/s10514-016-9574-0 |x Verlag |x Resolving-System |3 Volltext |
| 856 | 4 | 0 | |u https://doi.org/10.1007/s10514-016-9574-0 |x Verlag |3 Volltext |
| 951 | |a AR | ||
| 992 | |a 20181113 | ||
| 993 | |a Article | ||
| 994 | |a 2017 | ||
| 998 | |g 1075341558 |a Felis, Martin L. |m 1075341558:Felis, Martin L. |p 1 |x j |y j | ||
| 999 | |a KXP-PPN158367201X |e 3032132339 | ||
| BIB | |a Y | ||
| SER | |a journal | ||
| JSO | |a {"person":[{"family":"Felis","given":"Martin L.","display":"Felis, Martin L.","roleDisplay":"VerfasserIn","role":"aut"}],"title":[{"subtitle":"an efficient rigid-body dynamics library using recursive algorithms","title":"RBDL","title_sort":"RBDL"}],"language":["eng"],"recId":"158367201X","note":["First online: 02 June 2016","Gesehen am 13.11.2018"],"type":{"bibl":"article-journal","media":"Online-Ressource"},"name":{"displayForm":["Martin L. Felis"]},"id":{"eki":["158367201X"],"doi":["10.1007/s10514-016-9574-0"]},"origin":[{"dateIssuedKey":"2017","dateIssuedDisp":"February 2017"}],"relHost":[{"id":{"issn":["1573-7527"],"zdb":["1478962-0"],"eki":["271175591"]},"origin":[{"dateIssuedDisp":"1994-","dateIssuedKey":"1994","publisher":"Springer Science + Business Media B.V ; Kluwer","publisherPlace":"Dordrecht [u.a.] ; Dordrecht [u.a.]"}],"physDesc":[{"extent":"Online-Ressource"}],"title":[{"title_sort":"Autonomous robots","title":"Autonomous robots"}],"recId":"271175591","language":["eng"],"note":["Gesehen am 01.11.05"],"type":{"media":"Online-Ressource","bibl":"periodical"},"disp":"RBDL an efficient rigid-body dynamics library using recursive algorithmsAutonomous robots","part":{"year":"2017","pages":"495-511","issue":"2","volume":"41","text":"41(2017), 2, Seite 495-511","extent":"17"},"pubHistory":["1.1994 -"]}],"physDesc":[{"extent":"17 S."}]} | ||
| SRT | |a FELISMARTIRBDL2017 | ||