Real-time dynamic simulation of quadruped using modified velocity transformation

The dynamic formulation using the velocity transformation modified to make it more efficient with the recursive calculations and removal of trivial calculations is applied to the real-time simulation of the quadruped. The proposed method turned out to be an O(N) algorithm for parallel structures and an O(N³) algorithm for serial structures from the fact that the computation for the simulation of the quadruped is proportional to the number of legs and the cube of the DOF of a leg. Thus it may be most profitable for the quadruped model with decoupled tree structure because it has been demonstrated that the best O(N³) algorithms are faster than the best O(N) algorithms for N<10. The results also show that the real-time simulation can be achieved on a personal workstation with the application of parallel computation