@inproceedings{a843ce9f494d43e48711be2e3078ee73,
title = "A reduced-order recursive algorithm for the computation of the operational-space inertia matrix",
abstract = "This paper provides a reduced-order algorithm, the Extended-Force- Propagator Algorithm (EFPA), for the computation of operational-space inertia matrices in branched kinematic trees. The algorithm accommodates an operational space of multiple end-effectors, and is the lowest-order algorithm published to date for this computation. The key feature of this algorithm is the explicit calculation and use of matrices that propagate a force across a span of several links in a single operation. This approach allows the algorithm to achieve a computational complexity of O(N +md+m2) where N is the number of bodies, m is the number of end-effectors, and d is the depth of the system's connectivity tree. A detailed cost comparison is provided to the propagation algorithms of Rodriguez et al. (complexity O(N + dm2)) and to the sparse factorization methods of Featherstone (complexity O(nd2 + md2 + m2d)). For the majority of examples considered, our algorithm outperforms the previous best recursive algorithm, and demonstrates efficiency gains over sparse methods for some topologies.",
author = "Patrick Wensing and Roy Featherstone and Orin, \{David E.\}",
year = "2012",
doi = "10.1109/ICRA.2012.6224600",
language = "English",
isbn = "9781467314039",
series = "Proceedings - IEEE International Conference on Robotics and Automation",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "4911--4917",
booktitle = "2012 IEEE International Conference on Robotics and Automation, ICRA 2012",
address = "United States",
note = " 2012 IEEE International Conference on Robotics and Automation, ICRA 2012 ; Conference date: 14-05-2012 Through 18-05-2012",
}