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Inverse dynamics

About: Inverse dynamics is a research topic. Over the lifetime, 3346 publications have been published within this topic receiving 73779 citations.


Papers
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Proceedings ArticleDOI
24 Dec 2012
TL;DR: A new physics engine tailored to model-based control, based on the modern velocity-stepping approach which avoids the difficulties with spring-dampers, which can compute both forward and inverse dynamics.
Abstract: We describe a new physics engine tailored to model-based control. Multi-joint dynamics are represented in generalized coordinates and computed via recursive algorithms. Contact responses are computed via efficient new algorithms we have developed, based on the modern velocity-stepping approach which avoids the difficulties with spring-dampers. Models are specified using either a high-level C++ API or an intuitive XML file format. A built-in compiler transforms the user model into an optimized data structure used for runtime computation. The engine can compute both forward and inverse dynamics. The latter are well-defined even in the presence of contacts and equality constraints. The model can include tendon wrapping as well as actuator activation states (e.g. pneumatic cylinders or muscles). To facilitate optimal control applications and in particular sampling and finite differencing, the dynamics can be evaluated for different states and controls in parallel. Around 400,000 dynamics evaluations per second are possible on a 12-core machine, for a 3D homanoid with 18 dofs and 6 active contacts. We have already used the engine in a number of control applications. It will soon be made publicly available.

4,018 citations

Journal ArticleDOI
TL;DR: The 'minimum variance model' is another major recent advance in the computational theory of motor control, strongly suggesting that both kinematic and dynamic internal models are utilized in movement planning and control.

2,469 citations

Journal ArticleDOI
TL;DR: The modelling method presented represents a good way to estimate in vivo muscle forces during movement tasks and changing the muscle model to one that is more physiologically correct produced better predictions.

1,049 citations

Book
17 Dec 1993
TL;DR: Dependent Coordinates and Related Constraints Equations are compared to Dynamic Analysis: Mass Matrices and External Forces for Real Time Dynamics.
Abstract: Dependent Coordinates and Related Constraints Equations- Kinematic Analysis- Dynamic Analysis: Mass Matrices and External Forces-Dynamic Analysis: Equations of Motion- Static Equilibrium Position and Inverse Dynamics- Numerical Integration of the Equations of Motion- Improved Formulations for Real Time Dynamics Linearized Dynamic Analysis- Special Topics-Forward Dynamics of Flexible Systems- Inverse Dynamics of Flexible Multibodies

888 citations

Journal ArticleDOI
TL;DR: The Robotics Toolbox is a software package that allows a MATLAB user to readily create and manipulate datatypes fundamental to robotics such as homogeneous transformations, quaternions and trajectories.
Abstract: The Robotics Toolbox is a software package that allows a MATLAB user to readily create and manipulate datatypes fundamental to robotics such as homogeneous transformations, quaternions and trajectories. Functions provided, for arbitrary serial-link manipulators, include forward and inverse kinematics, Jacobians, and forward and inverse dynamics. This article introduces the Toolbox in tutorial form, with examples chosen to demonstrate a range of capabilities. The complete Toolbox and documentation is freely available via anonymous ftp.

867 citations


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Performance
Metrics
No. of papers in the topic in previous years
YearPapers
202394
2022185
2021131
2020139
2019153
2018132