Efficient parallel dynamics computation of human figures
Efficient parallel dynamics computation of human figures
复制标题
人体的高效并行动力学计算
DOI：
10.1109/robot.2002.1013413
复制
发表时间：
2002
期刊：
影响因子：
--
通讯作者：
Yoshihiko Nakamura
中科院分区：
文献类型：
--
作者：
K. Yamane;Yoshihiko Nakamura
提出了一种用于人体前向动力学计算的高效并行算法。该算法能够处理任何运动链，包括结构变化的运动链。对于大多数实用的运动链，该算法在O(N)处理机上的串行计算的渐近复杂性为O(N)，并行计算的渐近复杂性为O(LogN)。其思想是通过逐个添加关节来装配运动链，并利用虚功原理计算新关节处的约束力。通过简单地改变汇编顺序，该算法的并行性可以适应于具有任意数量处理器的并行处理系统。在8节点集群上的仿真算例验证了该算法的有效性。
An efficient parallel algorithm for forward dynamics computation of human figures is proposed. The algorithm is capable of handling any kinematic chains including structure-varying ones. The asymptotic complexity of the algorithm is O(N) in serial computation and O(log N) in parallel computation on O(N) processors for most practical kinematic chains. The idea is to assemble a kinematic chain by adding the joints one by one and compute the constraint forces at the new joints using the principle of virtual work. The parallelism of the algorithm can be adapted for parallel processing systems with any number of processors by simply changing the assembly order. Simulation examples on an 8-node cluster demonstrate the effectiveness of the algorithm.