Matches in SemOpenAlex for { <https://semopenalex.org/work/W2953313807> ?p ?o ?g. }
Showing items 1 to 93 of
93
with 100 items per page.
- W2953313807 abstract "We present a new time integrator for articulated body dynamics. We formulate the governing equations of the dynamics using only the position variables and recast the position-based articulated dynamics as an optimization problem. Our reformulation allows us to integrate the dynamics in a fully implicit manner without computing high-order derivatives. Therefore, under arbitrarily large timestep sizes, the stability of our time integration scheme is guaranteed using an off-the-shelf numerical optimizer. In addition to stability, we show that, similar to the Runge-Kutta method, the accuracy of our time integrator can also be increased arbitrarily by using a high-order collocation method. We provide efficient algorithms to perform time integration using our position-based formulation. We show that each iteration of optimization has a complexity of O(N) using Quasi-Newton method or O(N^2) using Newton's method, where N is the number of links. Finally, our method is highly parallelizable and can be accelerated using a Graphics Processing Unit (GPU). We highlight the efficiency and stability of our method on different benchmarks and compare the performance with prior articulated body dynamics simulation methods based on the Newton-Euler's equation. Our method is stable under a timestep size as large as 0.1s. Using a larger timestep size and less timesteps, our method achieves up to 4 times speedup on a single-core CPU. With GPU acceleration, we observe an additional 3-6 times speedup over a 4-core CPU." @default.
- W2953313807 created "2019-06-27" @default.
- W2953313807 creator A5004194238 @default.
- W2953313807 creator A5016686740 @default.
- W2953313807 date "2017-09-13" @default.
- W2953313807 modified "2023-09-26" @default.
- W2953313807 title "Time Integrating Articulated Body Dynamics Using Position-Based Collocation Method" @default.
- W2953313807 doi "https://doi.org/10.48550/arxiv.1709.04145" @default.
- W2953313807 hasPublicationYear "2017" @default.
- W2953313807 type Work @default.
- W2953313807 sameAs 2953313807 @default.
- W2953313807 citedByCount "0" @default.
- W2953313807 crossrefType "posted-content" @default.
- W2953313807 hasAuthorship W2953313807A5004194238 @default.
- W2953313807 hasAuthorship W2953313807A5016686740 @default.
- W2953313807 hasBestOaLocation W29533138071 @default.
- W2953313807 hasConcept C10138342 @default.
- W2953313807 hasConcept C112972136 @default.
- W2953313807 hasConcept C11413529 @default.
- W2953313807 hasConcept C117896860 @default.
- W2953313807 hasConcept C119857082 @default.
- W2953313807 hasConcept C121332964 @default.
- W2953313807 hasConcept C126255220 @default.
- W2953313807 hasConcept C134306372 @default.
- W2953313807 hasConcept C147597530 @default.
- W2953313807 hasConcept C148047603 @default.
- W2953313807 hasConcept C162324750 @default.
- W2953313807 hasConcept C173608175 @default.
- W2953313807 hasConcept C185592680 @default.
- W2953313807 hasConcept C198082294 @default.
- W2953313807 hasConcept C2126413 @default.
- W2953313807 hasConcept C2776257435 @default.
- W2953313807 hasConcept C2779851693 @default.
- W2953313807 hasConcept C28826006 @default.
- W2953313807 hasConcept C31258907 @default.
- W2953313807 hasConcept C33923547 @default.
- W2953313807 hasConcept C41008148 @default.
- W2953313807 hasConcept C45600393 @default.
- W2953313807 hasConcept C459310 @default.
- W2953313807 hasConcept C51544822 @default.
- W2953313807 hasConcept C59593255 @default.
- W2953313807 hasConcept C68339613 @default.
- W2953313807 hasConcept C74650414 @default.
- W2953313807 hasConcept C78045399 @default.
- W2953313807 hasConcept C79518650 @default.
- W2953313807 hasConcept C80023036 @default.
- W2953313807 hasConceptScore W2953313807C10138342 @default.
- W2953313807 hasConceptScore W2953313807C112972136 @default.
- W2953313807 hasConceptScore W2953313807C11413529 @default.
- W2953313807 hasConceptScore W2953313807C117896860 @default.
- W2953313807 hasConceptScore W2953313807C119857082 @default.
- W2953313807 hasConceptScore W2953313807C121332964 @default.
- W2953313807 hasConceptScore W2953313807C126255220 @default.
- W2953313807 hasConceptScore W2953313807C134306372 @default.
- W2953313807 hasConceptScore W2953313807C147597530 @default.
- W2953313807 hasConceptScore W2953313807C148047603 @default.
- W2953313807 hasConceptScore W2953313807C162324750 @default.
- W2953313807 hasConceptScore W2953313807C173608175 @default.
- W2953313807 hasConceptScore W2953313807C185592680 @default.
- W2953313807 hasConceptScore W2953313807C198082294 @default.
- W2953313807 hasConceptScore W2953313807C2126413 @default.
- W2953313807 hasConceptScore W2953313807C2776257435 @default.
- W2953313807 hasConceptScore W2953313807C2779851693 @default.
- W2953313807 hasConceptScore W2953313807C28826006 @default.
- W2953313807 hasConceptScore W2953313807C31258907 @default.
- W2953313807 hasConceptScore W2953313807C33923547 @default.
- W2953313807 hasConceptScore W2953313807C41008148 @default.
- W2953313807 hasConceptScore W2953313807C45600393 @default.
- W2953313807 hasConceptScore W2953313807C459310 @default.
- W2953313807 hasConceptScore W2953313807C51544822 @default.
- W2953313807 hasConceptScore W2953313807C59593255 @default.
- W2953313807 hasConceptScore W2953313807C68339613 @default.
- W2953313807 hasConceptScore W2953313807C74650414 @default.
- W2953313807 hasConceptScore W2953313807C78045399 @default.
- W2953313807 hasConceptScore W2953313807C79518650 @default.
- W2953313807 hasConceptScore W2953313807C80023036 @default.
- W2953313807 hasLocation W29533138071 @default.
- W2953313807 hasOpenAccess W2953313807 @default.
- W2953313807 hasPrimaryLocation W29533138071 @default.
- W2953313807 hasRelatedWork W2068258741 @default.
- W2953313807 hasRelatedWork W2093696657 @default.
- W2953313807 hasRelatedWork W2329155633 @default.
- W2953313807 hasRelatedWork W2532424781 @default.
- W2953313807 hasRelatedWork W2554083593 @default.
- W2953313807 hasRelatedWork W2595359173 @default.
- W2953313807 hasRelatedWork W2907290656 @default.
- W2953313807 hasRelatedWork W2953313807 @default.
- W2953313807 hasRelatedWork W3032689177 @default.
- W2953313807 hasRelatedWork W2166635987 @default.
- W2953313807 isParatext "false" @default.
- W2953313807 isRetracted "false" @default.
- W2953313807 magId "2953313807" @default.
- W2953313807 workType "article" @default.