Adaptive Dynamics with Efficient Contact Handling for Articulated Robots
Abstract
We present a novel adaptive dynamics algorithm with efficient contact handling for articulated robots. Our algorithm automatically computes a fraction of the joints whose motion provides a good approximation to overall robot dynamics. We extend Featherstone's Divide-and-Conquer algorithm and are able to efficiently handle all contacts and collisions with the obstacles int he environment. Overall, our approach provides a time-critical collision detection and resolution algorithm for highly articulated bodies and its complexity is sub-linear in the number of degrees-of-freedom. We demonstrate our algorithm on several complex articulated robots consisting of hundreds of joints. Download: Bibtex: @INPROCEEDINGS{ Gayle-RSS-06, AUTHOR = {R. Gayle and M. Lin and D. Manocha}, TITLE = {Adaptive Dynamics with Efficient Contact Handling for Articulated Robots}, BOOKTITLE = {Proceedings of Robotics: Science and Systems}, YEAR = {2006}, ADDRESS = {Philadelphia, USA}, MONTH = {August}, DOI = {10.15607/RSS.2006.II.030} }