Interactive spacetime control for animation
SIGGRAPH '92 Proceedings of the 19th annual conference on Computer graphics and interactive techniques
CONDOR: constraint-based dataflow
SIGGRAPH '92 Proceedings of the 19th annual conference on Computer graphics and interactive techniques
A Lie group formulation of robot dynamics
International Journal of Robotics Research
Interactive manipulation of rigid body simulations
Proceedings of the 27th annual conference on Computer graphics and interactive techniques
Robot Dynamics Algorithm
Continuous contact simulation for smooth surfaces
ACM Transactions on Graphics (TOG)
Practical parameterization of rotations using the exponential map
Journal of Graphics Tools
Proceedings of the 2003 ACM SIGGRAPH/Eurographics symposium on Computer animation
Efficient symbolic differentiation for graphics applications
ACM SIGGRAPH 2007 papers
Spline joints for multibody dynamics
ACM SIGGRAPH 2008 papers
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Most current linear-time forward dynamics algorithms support only simple types of joints due to difficulties in computing derivatives of joint transformations up to order two. We apply the D* symbolic differentiation algorithm to a recursive formulation of forward dynamics to get a highly efficient linear-time forward dynamics algorithm supporting multibody systems with general scleronomic joints. With this new algorithm we can easily build a tree-topology multibody system with complex joint models and perform forward dynamics efficiently. The source code for the algorithm is freely available for non-commercial use.