Add Jan's paper

StochLab · Feb 21, 2020 · 3b41cb0 · 3b41cb0
1 parent c234603
commit 3b41cb0
Show file tree

Hide file tree

Showing 4 changed files with 37 additions and 0 deletions.
diff --git a/_includes/pubs.html b/_includes/pubs.html
@@ -69,6 +69,29 @@
 			<span class="links">
 		</td>
 	</tr>
+	<tr>
+		<td>
+			<span class="date">
+
+				<big><strong>2020</strong></big><br />
+
+				June
+			</span>
+		</td>
+		<td class="publication">
+			<span class="pubtitle">
+					<img src="img/pdficon_small.png" width="20"
+						height="20" alt="PDF" />
+				<a href="https://rexlab.stanford.edu/papers/max_coord_dynamics.pdf">Linear-Time Variational Integrators in Maximal Coordinates</a>.
+			</span><br />
+			<span class="authors">
+				Jan Brudigam and Zachary Manchester.
+			</span><br />
+			<span class="venuetype"></span><span class="venue">Workshop on the Algorithmic Foundations of Robotics (WAFR 2020). (Submitted)</span>.
+			<br />
+			<span class="links">
+		</td>
+	</tr>
 	<tr>
 		<td>
 			<span class="date">

diff --git a/bib/pubs.bib b/bib/pubs.bib
@@ -363,3 +363,17 @@ @inproceedings{Cleach2020
   pages = {10},
 }
 
+@inproceedings{Brudigam2020,
+  address = {{Oulu, Finland}},
+  title = {Linear-{{Time Variational Integrators}} in {{Maximal Coordinates}}},
+  abstract = {Most dynamic simulation tools parameterize the configuration of multi-body robotic systems using minimal coordinates, also called generalized or joint coordinates. However, maximal-coordinate approaches have several advantages over minimal-coordinate parameterizations, including native handling of closed kinematic loops and nonholonomic constraints. This paper describes a linear-time variational integrator that is formulated in maximal coordinates. Due to its variational formulation, the algorithm does not suffer from constraint drift and has favorable energy and momentum conservation properties. A sparse matrix factorization technique allows the dynamics of a loop-free articulated mechanism with n links to be computed in O(n) (linear) time. Additional constraints that introduce loops can also be handled by the algorithm without incurring much computational overhead. Experimental results show that our approach offers speed competitive with existing minimalcoordinate algorithms while outperforming them in several scenarios, especially when dealing with closed loops and configuration singularities.},
+  language = {en},
+  booktitle = {Workshop on the {{Algorithmic Foundations}} of {{Robotics}} {{(WAFR 2020)}}. {{(Submitted)}}},
+  url = {https://rexlab.stanford.edu/papers/max_coord_dynamics.pdf},
+  author = {Brudigam, Jan and Manchester, Zachary},
+  month = jun,
+  year = {2020},
+  pages = {17},
+}
+
+
diff --git a/papers/distributed_quads.pdf b/papers/distributed_quads.pdf
diff --git a/papers/max_coord_dynamics.pdf b/papers/max_coord_dynamics.pdf