The paper presents PV-OSIMr, a new efficient algorithm for computing the Delassus matrix, also known as the inverse operational space inertia matrix, for a kinematic tree. The algorithm optimizes the Popov-Vereshchagin solver computations using the compositionality of the force and motion propagators. It has a lower computational complexity compared to other algorithms in the literature. The Delassus matrix has applications in robotics and computer graphics, making this algorithm useful for these fields. The authors also benchmark the algorithm and find it to be more efficient in practice than the existing algorithms.
Publication date: 5 Oct 2023
Project Page: https://arxiv.org/abs/2310.03676v1
Paper: https://arxiv.org/pdf/2310.03676
