Abstract
We present a novel adaptive dynamics algorithm with efficient
contact handling for articulated robots. Our algorithm automaically
computes a fraction of the joints whose motion provides a good
approximation to overall body dynamics. We extend Featherstone's
Divide-and-Conquer algorithm and are able to efficiently handle all
contacts and collisions with the obstacles in the environment. Overall,
our approach provides a time-critical collision detection and
resolution algorithm for highly articulated bodies and its complexity
is sub-linear int he number of degrees-of-freedom. We demonstrate our
algorithm on several complex articualted robots consisting of hundreds
of joints.
