GRiD: GPU-Accelerated Rigid Body Dynamics with Analytical Gradients

• Published in: arXiv.org
• Main Authors: Plancher, Brian, Neuman, Sabrina M, Ghosal, Radhika, Kuindersma, Scott, Reddi, Vijay Janapa
• Format: Paper Journal Article
• Language: English
• Published: Ithaca Cornell University Library, arXiv.org 25.02.2022
• Subjects: Algorithms; Computer Science - Robotics; Iterative methods; Libraries; Machine learning; Rigid structures; Rigid-body dynamics; Robot control; Robotics; Trajectory optimization

We introduce GRiD: a GPU-accelerated library for computing rigid body dynamics with analytical gradients. GRiD was designed to accelerate the nonlinear trajectory optimization subproblem used in state-of-the-art robotic planning, control, and machine learning, which requires tens to hundreds of natu...