RBDL: an efficient rigid-body dynamics library using recursive algorithms
RBDL: an efficient rigid-body dynamics library using recursive algorithms
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DOI：
10.1007/s10514-016-9574-0
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发表时间：
2017-02-01
影响因子：
3.5
通讯作者：
Felis, Martin L.
中科院分区：
文献类型：
--
作者：
Felis, Martin L.
在我们的研究中，我们使用刚体动力学和最优控制方法来产生三维全身步行运动。为了进行动力学建模和计算，我们创建了RBDL-刚体动力学库。它是一个独立的免费开源软件包，实现了最先进的动力学算法，包括外部接触和碰撞影响。它基于费瑟斯通的空间代数表示法，并在C++中使用高效的数据结构来实现，这些数据结构利用了空间运算符中的稀疏性。该库包含各种帮助方法来计算量，如点速度，加速度，雅可比，角动量和线性动量等。简洁的编程接口和最小的依赖性使其适合集成到现有的框架中。我们证明了它的性能与最先进的动态库的基础上递归评估和符号代码生成。
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.