17 search results - page 3 / 4 » Fast contact force computation for nonpenetrating rigid bodi... |
HAPTICS
2007
IEEE
13 years 11 months ago
2007
IEEE
Transparent haptic rendering of the contact between a tool and its environment requires very frequent update of the contact forces acting on the tool. Given a rigid tool and a def...
HAPTICS
2003
IEEE
13 years 10 months ago
2003
IEEE
This paper proposes a new method for real-time rigid body simulations based on a volumetric penalty method. The penalty method, which employs spring-damper model, is a simple and ...
CGF
2002
13 years 5 months ago
2002
This paper introduces a fast continuous collision detection technique for polyhedral rigid bodies. As opposed to most collision detection techniques, the computation of the first ...
IROS
2006
IEEE
13 years 11 months ago
2006
IEEE
— The accelerations of and forces among contacting rigid bodies may be computed by formulating the dynamics equations and contact constraints as a complementarity problem [1]. Da...
ICRA
2005
IEEE
13 years 10 months ago
2005
IEEE
— This paper is concerned with the problem of identifying robust equilibrium postures of a planar mechanism supported by fixed frictional contacts in a twodimensional gravitation...