Robotics: Science and Systems II

Adaptive Dynamics with Efficient Contact Handling for Articulated Robots

R. Gayle, M. Lin, D. Manocha

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.



    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}