Efficient dynamic simulation of robotic systems with hierarchy
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In this paper multirate numerical integration techniques are introduced as a tool for simulating robotic systems. In contrast with traditional simulation techniques where a single global time step is used, multirate methods seek a gain in efficiency by using larger step sizes for the slow varying components and smaller step sizes for components with rapidly changing solutions. We argue that many robotic systems inherently posses different time scales, and therefore can benefit from multirate techniques. We have developed a multirate version of the popular Adams Predictor Corrector methods, which has a variety of modern features. We present results on the accuracy, stability and efficiency of the algorithm along with simulation results.
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Copyright 2001 IEEE. Reprinted from Proceedings of the 2001 IEEE International Conference on Robotics and Automation (ICRA 2001) Volume 3, pages 2818-2823. Publisher URL: http://ieeexplore.ieee.org/xpl/tocresult.jsp?isNumber=20184&page=7 This material is posted here with permission of the IEEE. Such permission of the IEEE does not in any way imply IEEE endorsement of any of the University of Pennsylvania's products or services. Internal or personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution must be obtained from the IEEE by writing to pubs-permissions@ieee.org. By choosing to view this document, you agree to all provisions of the copyright laws protecting it.