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- Publisher Website: 10.1109/LRA.2017.2666544
- Scopus: eid_2-s2.0-85041898837
- WOS: WOS:000413739500009
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Article: Parallel Dynamics Computation Using Prefix Sum Operations
Title | Parallel Dynamics Computation Using Prefix Sum Operations |
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Authors | |
Keywords | Direct/inverse dynamics formulation GPGPU prefix-sum operations |
Issue Date | 2017 |
Citation | IEEE Robotics and Automation Letters, 2017, v. 2, n. 3, p. 1296-1303 How to Cite? |
Abstract | A new parallel framework for fast computation of inverse and forward dynamics of articulated robots based on prefix sums (scans) is proposed. We first re-investigate the well-known recursive Newton-Euler formulation for robot dynamics and show that the forward-backward propagation process for robot inverse dynamics is equivalent to two scan operations on certain semigroups. Then, we showed that state-of-the-art forward dynamic algorithms can also be cast into a sequence of scan operations almost completely, with unscannable parts clearly identified. This suggests a serial-parallel hybrid approach for systems with a moderate number of links. We implement our scan-based algorithms on Nvidia CUDA platform with performance compared with multithreading CPU-based recursive algorithms; a computational acceleration is demonstrated. |
Persistent Identifier | http://hdl.handle.net/10722/308923 |
ISI Accession Number ID |
DC Field | Value | Language |
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dc.contributor.author | Yang, Yajue | - |
dc.contributor.author | Wu, Yuanqing | - |
dc.contributor.author | Pan, Jia | - |
dc.date.accessioned | 2021-12-08T07:50:25Z | - |
dc.date.available | 2021-12-08T07:50:25Z | - |
dc.date.issued | 2017 | - |
dc.identifier.citation | IEEE Robotics and Automation Letters, 2017, v. 2, n. 3, p. 1296-1303 | - |
dc.identifier.uri | http://hdl.handle.net/10722/308923 | - |
dc.description.abstract | A new parallel framework for fast computation of inverse and forward dynamics of articulated robots based on prefix sums (scans) is proposed. We first re-investigate the well-known recursive Newton-Euler formulation for robot dynamics and show that the forward-backward propagation process for robot inverse dynamics is equivalent to two scan operations on certain semigroups. Then, we showed that state-of-the-art forward dynamic algorithms can also be cast into a sequence of scan operations almost completely, with unscannable parts clearly identified. This suggests a serial-parallel hybrid approach for systems with a moderate number of links. We implement our scan-based algorithms on Nvidia CUDA platform with performance compared with multithreading CPU-based recursive algorithms; a computational acceleration is demonstrated. | - |
dc.language | eng | - |
dc.relation.ispartof | IEEE Robotics and Automation Letters | - |
dc.subject | Direct/inverse dynamics formulation | - |
dc.subject | GPGPU | - |
dc.subject | prefix-sum operations | - |
dc.title | Parallel Dynamics Computation Using Prefix Sum Operations | - |
dc.type | Article | - |
dc.description.nature | link_to_subscribed_fulltext | - |
dc.identifier.doi | 10.1109/LRA.2017.2666544 | - |
dc.identifier.scopus | eid_2-s2.0-85041898837 | - |
dc.identifier.volume | 2 | - |
dc.identifier.issue | 3 | - |
dc.identifier.spage | 1296 | - |
dc.identifier.epage | 1303 | - |
dc.identifier.eissn | 2377-3766 | - |
dc.identifier.isi | WOS:000413739500009 | - |