Efficient parallel algorithms for robot forward dynamics computation

A Unified Formulation for Massively Parallel Rigid Multibody Dynamics of O(log2n) Computational Complexity

“…(1) as a first-order linear inhomogeneous recurrence (LIR), contrary to almost all the other known proposals [7,16,17]. As a result, it avoids the explicit pre-computation of input physical parameters in global cartesian coordinates.…”

An Algorithm with Logarithmic Time Complexity for Interactive Simulation of Hierarchically Articulated Bodies Using a Distributed-memory Architecture

“…Some attempts are made to parallelize parts of the composite-rigidbody method [20,21]. A parallel version of the composite-rigid-body method with time complexity O(n 2 ), and a parallel version of the conjugent-gradient method [9] with time complexity O(n´ log(n)) are given in [22]. A small-scale parallelization of the Gear method for a shared-memory architecture is given in [23].…”

“…Following [25], Lee and Chang show [22] that the time complexity of the articulated-body method cannot be reduced for any linearly chained rigid bodies by parallelization. However, parallelizing the method for HABs will reduce time complexity.…”

A divide and conquer algorithm for constrained multibody system dynamics based on augmented Lagrangian method with projections-based error correction

“…The strategies enabled to decrease the turnaround time associated with computer simulations and even achieve results in real-time. The first attempts to exploit parallel strategies can be found in [6,12,18,19,25,26].…”