Existing contact modeling in rigid body simulation is inadequate for robotics: no algorithms guarantee both convergence and nonpenetration at multiple contact points in the presen...
A new algorithm for computing contact forces between solid objects with friction is presented. The algorithm allows a mix of contact points with static and dynamic friction. In co...
Friction cancellation and high gain force feedback are studied for their relative benefits in mitigating the effects of friction in haptic interfaces. Although either technique a...
Nicholas L. Bernstein, Dale A. Lawrence, Lucy Y. P...
We present a method for simulating rigid multibody dynamics with joints, contact, and friction. In this work, the nonsmooth contact and frictional constraints are represented by h...
Abstract— Constructing climbing behaviors for hyperredundant robots that account for the system dynamics requires a model of robot dynamics under contact and friction. One common...