Sciweavers

Share
SAC
2009
ACM

A robust and tractable contact model for dynamic robotic simulation

9 years 2 months ago
A robust and tractable contact model for dynamic robotic simulation
Existing contact modeling in rigid body simulation is inadequate for robotics: no algorithms guarantee both convergence and nonpenetration at multiple contact points in the presence of Coulomb friction. We present a convex optimization based algorithm that models simultaneous contact at multiple points, ensures nonpenetration, and yields Coulomb friction effects. An example of simulated robotic grasping shows that the proposed algorithm is robust where most other methods fail.
Evan Drumwright, Dylan A. Shell
Added 19 May 2010
Updated 19 May 2010
Type Conference
Year 2009
Where SAC
Authors Evan Drumwright, Dylan A. Shell
Comments (0)
books