| dc.contributor.author | Si, Weiguang | en_US |
| dc.contributor.author | Guenter, Brian | en_US |
| dc.contributor.editor | MZoran Popovic and Miguel Otaduy | en_US |
| dc.date.accessioned | 2014-01-29T07:51:05Z | |
| dc.date.available | 2014-01-29T07:51:05Z | |
| dc.date.issued | 2010 | en_US |
| dc.identifier.isbn | 978-3-905674-27-9 | en_US |
| dc.identifier.issn | 1727-5288 | en_US |
| dc.identifier.uri | http://dx.doi.org/10.2312/SCA/SCA10/031-037 | en_US |
| dc.description.abstract | Most current linear-time forward dynamics algorithms support only simple types of joints due to difficulties in computing derivatives of joint transformations up to order two.We apply the D* symbolic differentiation algorithm to a recursive formulation of forward dynamics to get a highly efficient linear-time forward dynamics algorithm supporting multibody systems with general scleronomic joints. With this new algorithm we can easily build a treetopology multibody system with complex joint models and perform forward dynamics efficiently. The source code for the algorithm is freely available for non-commercial use. | en_US |
| dc.publisher | The Eurographics Association | en_US |
| dc.subject | Categories and Subject Descriptors (according to ACM CCS): I.3.7 [Computer Graphics]: Three-Dimensional Graphics and Realism-Animation | en_US |
| dc.title | Linear-Time Dynamics for Multibody Systems with General Joint Models | en_US |
| dc.description.seriesinformation | Eurographics/ ACM SIGGRAPH Symposium on Computer Animation | en_US |
