2021
Accelerating Robot Dynamics Gradients on a CPU, GPU, and FPGA
Brian Plancher, Sabrina M. Neuman, Thomas Bourgeat, Scott Kuindersma, Srinivas Devadas, Vijay Janapa Reddi
RA-L 2021
Computing the gradient of rigid body dynamics is a central operation in many state-of-the-art planning and control algorithms in robotics. Parallel computing platforms such as GPUs and FPGAs can offer performance gains for algorithms with hardware-compatible computational structures. In this letter,