Martin Felis
PhD Student
Research topic: 3D Modeling and Optimization of Emotional Locomotion
Address
Ruprecht-Karls-Universität Heidelberg
Interdisziplinäres Zentrum für Wissenschaftliches Rechnen
Im Neuenheimer Feld 368
D- 69120 Heidelberg
Ph. +49-6221-54-4983
Fax +49-6221-54-8810
email: martin.felis (at) iwr.uni-heidelberg.de
Research interests
- non-linear optimization
- optimal control
- rigid body dynamics
- screw theory
- biomechanics
- optimality criteria of human motion
- character animation
Software
RBDL - the Rigid Body Dynamics Library
A library that contains some essential rigid body dynamics library such as the Articulated Body Algorithm (ABA) for forward dynamics, Newton-Euler Algorithm for inverse dynamics and the Composite Rigid Body Algorithm (CRBA) for the efficient computation of the joint space inertia matrix.
Available at: http://bitbucket.org/MartinFelis/rigidbodydynamicslibrary