METAPOD - Template META-PrOgramming applied to Dynamics: CoP-CoM trajectories filtering

  • Posted on: 21 September 2014
  • By: ostasse
TitleMETAPOD - Template META-PrOgramming applied to Dynamics: CoP-CoM trajectories filtering
Publication TypeConference Paper
Year of Publication2014
AuthorsNaveau, M, Carpentier, J, Bathelemy, S, Stasse, O, Soueres, P
Conference NameIEEE/RAS International Conference on Humanoid Robot (ICHR)
Abstract

 

In this contribution, Metapod, a novel C++ library computing efficiently dynamic algorithms is presented. It uses template-programming techniques together with codegeneration. The achieved performances shows a clear advantage over the state-of-the art dynamic library RBDL. The advantage of this library is that it is open-source and does not rely on any external symbolic computational software. Additionnaly we show how it can help in current control problems for humanoid robots, and more specifically for dynamic filtering of walking gait trajectories.

URLhttp://homepages.laas.fr/ostasse/papers/2014/14-ichr-metapod.pdf
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