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...
The contribution of this paper is the expansion of the range of possibilities in the analysis, planning, and control of contact tasks. The successful execution of any contact task...
Two methods have been used extensively to model resting contact for rigid body simulation. The first approach, the penalty method, applies virtual springs to surfaces in contact to...
In this paper we present a novel approach for simulating the rigid body dynamics of a haptically manipulated object using implicit integration. Our formulation requires the linear...
— 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 ...