Divide-and-conquer articulated-body algorithm for parallel O(log(n)) calculation of rigid-body dynamics. Part 1: Basic algorithm

International Journal of Robotics Research

Volumn 18, Issue 9, 1999, Pages 867-875

  Featherstone, Roy ^a  

^a ABERYSTWYTH UNIVERSITY   (United Kingdom)

Author keywords

[No Author keywords available]

Indexed keywords

COMPUTATIONAL COMPLEXITY; EQUATIONS OF MOTION; KINEMATICS; MECHANISMS; PARALLEL ALGORITHMS; PARALLEL PROCESSING SYSTEMS; TOPOLOGY;

DIVIDE-AND-CONQUER ALGORITHM; RIGID BODY DYNAMICS;

ROBOTICS;

EID: 0032691911     PISSN: 02783649     EISSN: None     Source Type: Journal    
DOI: 10.1177/02783649922066619     Document Type: Article

References (10)

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3. Featherstone, R. 1987. Robot Dynamics Algorithms. Boston/-Dordrecht/Lancaster: Kluwer Academic.
4. Featherstone, R. 1999. A divide-and-conquer articulated-body algorithm for parallel O(log(n)) calculation of rigid-body dynamics. Part 2: Trees, loops, and accuracy, Int. Jnl. Robotics Research 18(9):876-892.
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10. Rodriguez, G., Jain, A., and Kreutz-Delgado, K. 1991. A spatial operator algebra for manipulator modelling and control, Int. Jnl. Robotics Research 10(4):371-381.