Position-Based Time-Integrator for Frictional Articulated Body Dynamics
Position-Based Time-Integrator for Frictional Articulated Body Dynamics
复制标题
用于摩擦铰接体动力学的基于位置的时间积分器
DOI：
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发表时间：
2018
期刊：
影响因子：
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通讯作者：
Dinesh Manocha
中科院分区：
文献类型：
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作者：
Zherong Pan;Dinesh Manocha
我们提出了一种新的时间积分器建模的关节机构的摩擦动力学。我们的配方表示使用位置变量的关节体的配置，然后使用这些变量来模拟关节体和环境之间的摩擦力。我们的方法对应于一个牛顿型的优化方案，保证收敛，使它是稳定的大时间步长。我们评估我们的时间积分器的准确性和稳定性，通过比较它与传统的配方的基础上牛顿-欧拉方程，并证明了标准的积分器优化应用程序的好处。我们实现了3-5倍的加速比基于牛顿欧拉的模拟器上的CPU。我们的方法可以很容易地在GPU上并行化，并导致额外的4-15倍的性能提高。
We present a new time-integrator for modeling the frictional dynamics of articulated bodies. Our formulation represents the configuration of the articulated body using position variables and then uses those variables to model the friction forces between the articulated body and the environment. Our approach corresponds to a Newton-type optimization scheme that is guaranteed to converge so that it is stable with large timestep sizes. We evaluate the accuracy and stability of our time-integrator by comparing it with a conventional formulations based on the Newton-Euler equation and demonstrate the benefits on standard controller-optimization applications. We achieve 3–5 times speedup over a Newton-Euler-based simulator on a CPU. Our approach can be easily parallelized on a GPU and results in additional 4–15 times performance improvement.