Inverse Dynamics Algorithm

Official Python bindings with a focus on reinforcement learning and robotics.
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Inverse Dynamics Algorithm

Post by __michael__ » Wed Sep 12, 2018 12:45 pm

What kind of algorithm is used for the inverse dynamics computation? Is there any citable source for the algorithm description?

Thanks alot.

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Erwin Coumans
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Re: Inverse Dynamics Algorithm

Post by Erwin Coumans » Wed Sep 12, 2018 4:14 pm

The computation of the joint space inertia (mass) 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"

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