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- W174293721 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 in the 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." @default.
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- W174293721 date "2006-08-16" @default.
- W174293721 modified "2023-10-14" @default.
- W174293721 title "Adaptive Dynamics with Efficient Contact Handling for Articulated Robots" @default.
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- W174293721 doi "https://doi.org/10.15607/rss.2006.ii.030" @default.
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