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ICRA
2005
IEEE

Fast Implementation of Lemke's Algorithm for Rigid Body Contact Simulation

10 years 3 months ago
Fast Implementation of Lemke's Algorithm for Rigid Body Contact Simulation
— We present a fast method for solving rigid body contact problems with friction, based on optimizations incorporated into Lemke’s algorithm for solving linear complementarity problems. These optimizations improve computation time in general and reduce the expected solution complexity from O(n3 ) to nearly O(nm + m3 ), where n and m are the number of contacts and rigid bodies. For a fixed number of bodies the expected complexity is therefore close to O(n). Our method also improves numerical robustness, and removes the need to explicitly compute the large matrices associated with rigid body contact problems.
John E. Lloyd
Added 25 Jun 2010
Updated 25 Jun 2010
Type Conference
Year 2005
Where ICRA
Authors John E. Lloyd
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