The comprehensive Dynamics motion (CDM) is a library built on top of COMA library to run algorithms along N-CMTM tool.

1. Installation
2. Results
3. Reference

The V1 is still in WIP. The V0 is an executable used for RSS2021 that has working algorithms, tests and benchmarks.

To compile you need the following tools:

• Git
• CMake >= 3.8.2
• doxygen
• g++ >= 8.3 (for C++17 support)
• Eigen >= 3.2
• coma
• RBDyn

For v0:

• CppAD
• benchmark

git clone --recursive https://github.com/vsamy/coma
cd cdm
mkdir build
cd build
cmake [options] ..
make -j8 install

git clone --recursive https://github.com/vsamy/coma
cd cdm
mkdir build
cd build
cmake -DBUILD_V0=ON ..
make -j8

Some comparison results

Here are some benchmarks made with google benchmarks and a i7-7700HQ@2.80GHz.

The next graph is the FK computation time of 100-DoF model (CDM vs RBDyn) depending on the order of the N-CMTM. CDM is 2 to 5 times slower.

The next graph is the computation time of the FK (CDM VS AD) depending on the number of DoF of the system. At 200-DoF, CDM is more than 100 times faster. In this case, with use AD to compute the second-order derivative of the acceleration (snap).

Here are comparison of CDM with different methods for different orders.

Next table is a comparison between CDM and different methods for the ID

Finally, the next table represents the max error of Jacobian (*1e-16) computation where A stands fot eh aleph (the comprehensive motion) and J, K, N, B, Q and R are respectively the link Jacobian, the link momentum Jacobian, the link force Jacobian, the joint momentum Jacobian, the joint force Jacobian and the joint torque Jacobian.

Related paper is freely accessible here

Citation

@inproceedings{samy2021generalized,
  title={Generalized Comprehensive Motion Theory for High-Order Differential Dynamics},
  author={Samy, Vincent and Ayusawa, Ko and Yoshida, Eiichi},
  journal={Robotics: Science and Systems XVII},
  year={2021}
}