12 search results - page 1 / 3 » Forward Dynamics Algorithms for Multibody Chains and Contact |
ICRA
2000
IEEE
13 years 9 months ago
2000
IEEE
We describe a framework for derivation of several forward dynamics algorithms used in robotics. The framework is based on formulating an augmented system and performing block matr...
ICRA
2006
IEEE
13 years 11 months ago
2006
IEEE
— This paper proposes a computational method of contact forces working between multibody system and environment in forward dynamics based on both the microbody-deformation model ...
TOG
2008
13 years 4 months ago
2008
We present a new discrete velocity-level formulation of frictional contact dynamics that reduces to a pair of coupled projections and introduce a simple fixed-point property of th...
RSS
2007
13 years 6 months ago
2007
— Recent progress in the algorithm as well as the processor power have made the dynamics simulation of complex kinematic chains more realistic in various fields such as human mo...
ICRA
2003
IEEE
13 years 10 months ago
2003
IEEE
— We propose a novel complementarity model for a general three-dimensional manipulation system with rolling and sliding contacts to solve the forward dynamics problem. The key id...