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ICRA
2000
IEEE

An Implicit Time-Stepping Scheme for Rigid Body Dynamics with Coulomb Friction

10 years 11 months ago
An Implicit Time-Stepping Scheme for Rigid Body Dynamics with Coulomb Friction
In this paper a new time-stepping method for simulating systems of rigid bodies is given. Unlike methods which take an instantaneous point of view, our method is based on impulse-momentum equations, and so does not need to explicitly resolve impulsive forces. On the other hand, our method is distinct from previous impulsive methods in that it does not require explicit collision checking and it can handle simultaneous impacts. Numerical results are given for one planar and one threedimensional example, which demonstrate the practicality of the method, and its convergence as the step size becomes small.
David E. Stewart, Jeffrey C. Trinkle
Added 31 Jul 2010
Updated 31 Jul 2010
Type Conference
Year 2000
Where ICRA
Authors David E. Stewart, Jeffrey C. Trinkle
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