Real-Time Physics Simulation Forum 2018-09-12T16:14:22+00:00 https://pybullet.org/Bullet/phpBB3/app.php/feed/topic/12437 2018-09-12T16:14:22+00:00 2018-09-12T16:14:22+00:00 https://pybullet.org/Bullet/phpBB3/viewtopic.php?p=41442#p41442 <![CDATA[Re: Inverse Dynamics Algorithm]]> matrix matrix is using the Composite Rigid Body Algorithm.
// The algorithm is essentially an implementation of "method 3"
// in "Efficient Dynamic Simulation of Robotic Mechanisms" (Walker and Orin, 1982)
// (Later named "Composite Rigid Body Algorithm" by Featherstone).
The inverse dynamics calculation uses the Recursive Newton-Euler Algorithm (RNEA), proposed for use in robotics by Walker and Paul in 1980 in "On-line computational scheme for mechanical manipulators"

Statistics: Posted by Erwin Coumans — Wed Sep 12, 2018 4:14 pm

]]> 2018-09-12T12:45:02+00:00 2018-09-12T12:45:02+00:00 https://pybullet.org/Bullet/phpBB3/viewtopic.php?p=41441#p41441 <![CDATA[Inverse Dynamics Algorithm]]>
Thanks alot.
Michael

Statistics: Posted by __michael__ — Wed Sep 12, 2018 12:45 pm

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