{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,6,9]],"date-time":"2026-06-09T08:44:21Z","timestamp":1780994661613,"version":"3.54.1"},"publisher-location":"New York, NY, USA","reference-count":52,"publisher":"ACM","license":[{"start":{"date-parts":[[2023,10,28]],"date-time":"2023-10-28T00:00:00Z","timestamp":1698451200000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by-nc-nd\/4.0\/"}],"funder":[{"name":"Strategic Priority Research Program of CAS","award":["XDB44000000"],"award-info":[{"award-number":["XDB44000000"]}]},{"name":"National Key R&D Program of China","award":["2018YFA0701500"],"award-info":[{"award-number":["2018YFA0701500"]}]},{"DOI":"10.13039\/501100001809","name":"National Natural Science Foundation of China","doi-asserted-by":"publisher","award":["62122076, 61834006, and 62025404"],"award-info":[{"award-number":["62122076, 61834006, and 62025404"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"publisher"}]},{"name":"Key Research Program of Frontier Sciences, CAS","award":["ZDBS-LY-JSC012"],"award-info":[{"award-number":["ZDBS-LY-JSC012"]}]}],"content-domain":{"domain":["dl.acm.org"],"crossmark-restriction":true},"short-container-title":[],"published-print":{"date-parts":[[2023,10,28]]},"DOI":"10.1145\/3613424.3614298","type":"proceedings-article","created":{"date-parts":[[2023,12,8]],"date-time":"2023-12-08T17:22:15Z","timestamp":1702056135000},"page":"297-309","update-policy":"https:\/\/doi.org\/10.1145\/crossmark-policy","source":"Crossref","is-referenced-by-count":10,"title":["Dadu-RBD: Robot Rigid Body Dynamics Accelerator with Multifunctional Pipelines"],"prefix":"10.1145","author":[{"ORCID":"https:\/\/orcid.org\/0009-0002-3007-3705","authenticated-orcid":false,"given":"Yuxin","family":"Yang","sequence":"first","affiliation":[{"name":"Institute of Computing Technology, Chinese Academy of Sciences, China and University of Chinese Academy of Sciences, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-7337-1844","authenticated-orcid":false,"given":"Xiaoming","family":"Chen","sequence":"additional","affiliation":[{"name":"Institute of Computing Technology, Chinese Academy of Sciences, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-0904-6681","authenticated-orcid":false,"given":"Yinhe","family":"Han","sequence":"additional","affiliation":[{"name":"Institute of Computing Technology, Chinese Academy of Sciences, China"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"320","published-online":{"date-parts":[[2023,12,8]]},"reference":[{"key":"e_1_3_2_1_1_1","unstructured":"KUKA AG. 2022. LBR iiwa. https:\/\/www.kuka.com\/products\/robotics-systems\/industrial-robots\/lbr-iiwa  KUKA AG. 2022. LBR iiwa. https:\/\/www.kuka.com\/products\/robotics-systems\/industrial-robots\/lbr-iiwa"},{"key":"e_1_3_2_1_2_1","doi-asserted-by":"publisher","DOI":"10.2514\/1.A33755"},{"key":"e_1_3_2_1_3_1","first-page":"545","article-title":"Fast sensitivity computations for trajectory optimization","volume":"135","author":"Arora Nitin","year":"2009","unstructured":"Nitin Arora , Ryan\u00a0 P Russell , and Richard\u00a0 W Vuduc . 2009 . Fast sensitivity computations for trajectory optimization . Advances in the Astronautical Sciences 135 , 1 (2009), 545 \u2013 560 . Nitin Arora, Ryan\u00a0P Russell, and Richard\u00a0W Vuduc. 2009. Fast sensitivity computations for trajectory optimization. Advances in the Astronautical Sciences 135, 1 (2009), 545\u2013560.","journal-title":"Advances in the Astronautical Sciences"},{"key":"e_1_3_2_1_4_1","volume-title":"Proceedings of the 49th Annual International Symposium on Computer Architecture. 597\u2013609","author":"Bakhshalipour Mohammad","year":"2022","unstructured":"Mohammad Bakhshalipour , Seyed\u00a0Borna Ehsani , Mohamad Qadri , Dominic Guri , Maxim Likhachev , and Phillip\u00a0 B Gibbons . 2022 . Racod: algorithm\/hardware co-design for mobile robot path planning . In Proceedings of the 49th Annual International Symposium on Computer Architecture. 597\u2013609 . Mohammad Bakhshalipour, Seyed\u00a0Borna Ehsani, Mohamad Qadri, Dominic Guri, Maxim Likhachev, and Phillip\u00a0B Gibbons. 2022. Racod: algorithm\/hardware co-design for mobile robot path planning. In Proceedings of the 49th Annual International Symposium on Computer Architecture. 597\u2013609."},{"key":"e_1_3_2_1_5_1","unstructured":"Justin Carpentier. 2018. Analytical Inverse of the Joint Space Inertia Matrix. https:\/\/hal.laas.fr\/hal-01790934  Justin Carpentier. 2018. Analytical Inverse of the Joint Space Inertia Matrix. https:\/\/hal.laas.fr\/hal-01790934"},{"key":"e_1_3_2_1_6_1","doi-asserted-by":"publisher","DOI":"10.15607\/RSS.2018.XIV.038"},{"key":"e_1_3_2_1_7_1","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA48506.2021.9560742"},{"key":"e_1_3_2_1_8_1","doi-asserted-by":"crossref","DOI":"10.1007\/978-3-540-36119-0","volume-title":"Fast direct multiple shooting algorithms for optimal robot control. Fast motions in biomechanics and robotics: optimization and feedback control","author":"Diehl Moritz","year":"2006","unstructured":"Moritz Diehl , Hans\u00a0Georg Bock , Holger Diedam , and P-B Wieber . 2006. Fast direct multiple shooting algorithms for optimal robot control. Fast motions in biomechanics and robotics: optimization and feedback control ( 2006 ), 65\u201393. Moritz Diehl, Hans\u00a0Georg Bock, Holger Diedam, and P-B Wieber. 2006. Fast direct multiple shooting algorithms for optimal robot control. Fast motions in biomechanics and robotics: optimization and feedback control (2006), 65\u201393."},{"key":"e_1_3_2_1_9_1","unstructured":"Boston Dynamics. 2022. Atlas. https:\/\/www.bostondynamics.com\/atlas  Boston Dynamics. 2022. Atlas. https:\/\/www.bostondynamics.com\/atlas"},{"key":"e_1_3_2_1_10_1","unstructured":"Farbod Farshidian. 2018. Optimal Control for Switched Systems(OCS2). https:\/\/github.com\/leggedrobotics\/ocs2  Farbod Farshidian. 2018. Optimal Control for Switched Systems(OCS2). https:\/\/github.com\/leggedrobotics\/ocs2"},{"key":"e_1_3_2_1_11_1","doi-asserted-by":"publisher","DOI":"10.1109\/HUMANOIDS.2017.8246930"},{"key":"e_1_3_2_1_12_1","doi-asserted-by":"publisher","DOI":"10.1007\/978-1-4899-7560-7"},{"key":"e_1_3_2_1_13_1","doi-asserted-by":"publisher","DOI":"10.1109\/SIMPAR.2018.8376281"},{"key":"e_1_3_2_1_14_1","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2018.8593840"},{"key":"e_1_3_2_1_15_1","volume-title":"A real-time gradient method for nonlinear model predictive control","author":"Graichen Knut","unstructured":"Knut Graichen and Bartosz K\u00e4pernick . 2012. A real-time gradient method for nonlinear model predictive control . INTECH Open Access Publisher London . Knut Graichen and Bartosz K\u00e4pernick. 2012. A real-time gradient method for nonlinear model predictive control. INTECH Open Access Publisher London."},{"key":"e_1_3_2_1_16_1","volume-title":"Fast Joint Multi-Robot Trajectory Optimization by GPU Accelerated Batch Solution of Distributed Sub-Problems. Frontiers in Robotics and AI 9","author":"Guhathakurta Dipanwita","year":"2022","unstructured":"Dipanwita Guhathakurta , Fatemeh Rastgar , M.\u00a0 Aditya Sharma , K.\u00a0 Madhava Krishna , and Arun\u00a0Kumar Singh . 2022. Fast Joint Multi-Robot Trajectory Optimization by GPU Accelerated Batch Solution of Distributed Sub-Problems. Frontiers in Robotics and AI 9 ( 2022 ). Dipanwita Guhathakurta, Fatemeh Rastgar, M.\u00a0Aditya Sharma, K.\u00a0Madhava Krishna, and Arun\u00a0Kumar Singh. 2022. Fast Joint Multi-Robot Trajectory Optimization by GPU Accelerated Batch Solution of Distributed Sub-Problems. Frontiers in Robotics and AI 9 (2022)."},{"key":"e_1_3_2_1_17_1","volume-title":"DaDu Series - Fast and Efficient Robot Accelerators. In 2020 IEEE\/ACM International Conference On Computer Aided Design (ICCAD). 1\u20138.","author":"Han Yinhe","year":"2020","unstructured":"Yinhe Han , Yuxin Yang , Xiaoming Chen , and Shiqi Lian . 2020 . DaDu Series - Fast and Efficient Robot Accelerators. In 2020 IEEE\/ACM International Conference On Computer Aided Design (ICCAD). 1\u20138. Yinhe Han, Yuxin Yang, Xiaoming Chen, and Shiqi Lian. 2020. DaDu Series - Fast and Efficient Robot Accelerators. In 2020 IEEE\/ACM International Conference On Computer Aided Design (ICCAD). 1\u20138."},{"key":"e_1_3_2_1_18_1","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2015.7353876"},{"key":"e_1_3_2_1_19_1","volume-title":"Rapid Trajectory Optimization Using C-FROST with Illustration on a Cassie-Series Dynamic Walking Biped. arXiv:1807.06614 (Mar","author":"Hereid Ayonga","year":"2019","unstructured":"Ayonga Hereid , Omar Harib , Ross Hartley , Yukai Gong , and Jessy\u00a0 W. Grizzle . 2019. Rapid Trajectory Optimization Using C-FROST with Illustration on a Cassie-Series Dynamic Walking Biped. arXiv:1807.06614 (Mar 2019 ). http:\/\/arxiv.org\/abs\/1807.06614 arXiv:1807.06614 [cs]. Ayonga Hereid, Omar Harib, Ross Hartley, Yukai Gong, and Jessy\u00a0W. Grizzle. 2019. Rapid Trajectory Optimization Using C-FROST with Illustration on a Cassie-Series Dynamic Walking Biped. arXiv:1807.06614 (Mar 2019). http:\/\/arxiv.org\/abs\/1807.06614 arXiv:1807.06614 [cs]."},{"key":"e_1_3_2_1_20_1","doi-asserted-by":"publisher","DOI":"10.1109\/ARITH.2017.31"},{"key":"e_1_3_2_1_21_1","doi-asserted-by":"publisher","DOI":"10.48550\/arXiv.2205.03325"},{"key":"e_1_3_2_1_22_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.ifacol.2020.12.1794"},{"key":"e_1_3_2_1_23_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.conengprac.2018.06.016"},{"key":"e_1_3_2_1_24_1","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2019.8793875"},{"key":"e_1_3_2_1_25_1","doi-asserted-by":"publisher","DOI":"10.1109\/ACC.2016.7525066"},{"key":"e_1_3_2_1_26_1","unstructured":"Aravindh Krishnamoorthy and Deepak Menon. 2013. Matrix inversion using Cholesky decomposition. In 2013 Signal Processing: Algorithms Architectures Arrangements and Applications (SPA). 70\u201372.  Aravindh Krishnamoorthy and Deepak Menon. 2013. Matrix inversion using Cholesky decomposition. In 2013 Signal Processing: Algorithms Architectures Arrangements and Applications (SPA). 70\u201372."},{"key":"e_1_3_2_1_27_1","doi-asserted-by":"publisher","DOI":"10.1109\/CONTROL.2014.6915218"},{"key":"e_1_3_2_1_28_1","volume-title":"High-throughput computation of shannon mutual information on chip. Ph.\u00a0D. Dissertation","author":"Zhi\u00a0Xuan Li Peter","unstructured":"Peter Zhi\u00a0Xuan Li . 2020. High-throughput computation of shannon mutual information on chip. Ph.\u00a0D. Dissertation . Massachusetts Institute of Technology . Peter Zhi\u00a0Xuan Li. 2020. High-throughput computation of shannon mutual information on chip. Ph.\u00a0D. Dissertation. Massachusetts Institute of Technology."},{"key":"e_1_3_2_1_29_1","volume-title":"Modern robotics: mechanics, planning, and control","author":"Lynch M.","unstructured":"Kevin\u00a0 M. Lynch and Frank\u00a0 C. Park . 2017. Modern robotics: mechanics, planning, and control . Cambridge University Press , Cambridge, UK . Kevin\u00a0M. Lynch and Frank\u00a0C. Park. 2017. Modern robotics: mechanics, planning, and control. Cambridge University Press, Cambridge, UK."},{"key":"e_1_3_2_1_30_1","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA40945.2020.9196673"},{"key":"e_1_3_2_1_31_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.ifacol.2018.11.063"},{"key":"e_1_3_2_1_32_1","doi-asserted-by":"publisher","DOI":"10.1109\/MICRO.2016.7783748"},{"key":"e_1_3_2_1_33_1","doi-asserted-by":"publisher","DOI":"10.1145\/3579371.3589104"},{"key":"e_1_3_2_1_34_1","doi-asserted-by":"publisher","DOI":"10.1145\/3445814.3446746"},{"key":"e_1_3_2_1_35_1","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2016.7487274"},{"key":"e_1_3_2_1_36_1","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2018.2800124"},{"key":"e_1_3_2_1_37_1","doi-asserted-by":"publisher","DOI":"10.1145\/3309486.3340246"},{"key":"e_1_3_2_1_38_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.ifacol.2015.11.266"},{"key":"e_1_3_2_1_39_1","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-030-44051-0_38"},{"key":"e_1_3_2_1_40_1","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2021.3057845"},{"key":"e_1_3_2_1_41_1","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA46639.2022.9812384"},{"key":"e_1_3_2_1_42_1","doi-asserted-by":"publisher","DOI":"10.1177\/0278364912469821"},{"key":"e_1_3_2_1_43_1","doi-asserted-by":"publisher","DOI":"10.1109\/ISCA.2018.00047"},{"key":"e_1_3_2_1_44_1","doi-asserted-by":"publisher","DOI":"10.1177\/0959651811402275"},{"key":"e_1_3_2_1_45_1","doi-asserted-by":"publisher","DOI":"10.1109\/9.45152"},{"key":"e_1_3_2_1_46_1","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2012.6386025"},{"key":"e_1_3_2_1_47_1","volume-title":"Drake: Model-based design and verification for robotics. https:\/\/drake.mit.edu","author":"Tedrake R","year":"2019","unstructured":"R Tedrake . 2019 . Drake: Model-based design and verification for robotics. https:\/\/drake.mit.edu R Tedrake. 2019. Drake: Model-based design and verification for robotics. https:\/\/drake.mit.edu"},{"key":"e_1_3_2_1_48_1","unstructured":"Webots. [n. d.]. http:\/\/www.cyberbotics.com. http:\/\/www.cyberbotics.com Open-source Mobile Robot Simulation Software.  Webots. [n. d.]. http:\/\/www.cyberbotics.com. http:\/\/www.cyberbotics.com Open-source Mobile Robot Simulation Software."},{"key":"e_1_3_2_1_49_1","doi-asserted-by":"publisher","DOI":"10.1109\/TIE.2015.2464171"},{"key":"e_1_3_2_1_50_1","doi-asserted-by":"publisher","DOI":"10.1109\/CCDC.2014.6852127"},{"key":"e_1_3_2_1_51_1","doi-asserted-by":"publisher","DOI":"10.1145\/3386263.3406948"},{"key":"e_1_3_2_1_52_1","doi-asserted-by":"publisher","DOI":"10.1109\/TPEL.2022.3178417"}],"event":{"name":"MICRO '23: 56th Annual IEEE\/ACM International Symposium on Microarchitecture","location":"Toronto ON Canada","acronym":"MICRO '23","sponsor":["SIGMICRO ACM Special Interest Group on Microarchitectural Research and Processing"]},"container-title":["56th Annual IEEE\/ACM International Symposium on Microarchitecture"],"original-title":[],"link":[{"URL":"https:\/\/dl.acm.org\/doi\/10.1145\/3613424.3614298","content-type":"unspecified","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/dl.acm.org\/doi\/pdf\/10.1145\/3613424.3614298","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,6,17]],"date-time":"2025-06-17T16:36:30Z","timestamp":1750178190000},"score":1,"resource":{"primary":{"URL":"https:\/\/dl.acm.org\/doi\/10.1145\/3613424.3614298"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2023,10,28]]},"references-count":52,"alternative-id":["10.1145\/3613424.3614298","10.1145\/3613424"],"URL":"https:\/\/doi.org\/10.1145\/3613424.3614298","relation":{},"subject":[],"published":{"date-parts":[[2023,10,28]]},"assertion":[{"value":"2023-12-08","order":2,"name":"published","label":"Published","group":{"name":"publication_history","label":"Publication History"}}]}}