English (United Kingdom)

https://curated-unify.zendy.io/wp-json/zendy-region/v1/featured_content/oa?rat=en

https://curated-unify.zendy.io/wp-json/zendy-region/v1/highlighted_journal/

Global: Zendy Plus annual

Presents the access of premium content as premium feature

Premium Content

Presents the keyphrase highlighting as premium feature

Keyphrase Highlighting

Presents the summarisation as premium feature

Summarisation

Insights

Presents the pdf analysis as premium feature

PDF Analysis

Presents the zaia usage as premium feature

ZAIA

Global: Zendy Plus monthly

Global: Zendy Tools annual

Global: Zendy Tools monthly

Global: Zendy Free Plan

Rigid body dynamics is a key technology in the robotics field. In trajectoryoptimization and model predictive control algorithms, there are usually a largenumber of rigid body dynamics computing tasks. Using CPUs to process thesetasks consumes a lot of time, which will affect the real-time performance ofrobots. To this end, we propose a multifunctional robot rigid body dynamicsaccelerator, named RBDCore, to address the performance bottleneck. By analyzingdifferent functions commonly used in robot dynamics calculations, we summarizetheir reuse relationship and optimize them according to the hardware. Based onthis, RBDCore can fully reuse common hardware modules when processing differentcomputing tasks. By dynamically switching the dataflow path, RBDCore canaccelerate various dynamics functions without reconfiguring the hardware. Wedesign Structure-Adaptive Pipelines for RBDCore, which can greatly improve thethroughput of the accelerator. Robots with different structures and parameterscan be optimized specifically. Compared with the state-of-the-art CPU, GPUdynamics libraries and FPGA accelerator, RBDCore can significantly improve theperformance.

Dadu-RBD: Robot Rigid Body Dynamics Accelerator with Multifunctional Pipelines