ICRA
2010
IEEE
13 years 3 months ago
2010
IEEE
— Contact dynamics are commonly formulated as a linear complementarity problem. While this approach is superior to earlier spring-damper models, it can be inaccurate due to pyram...
SIAMJO
2008
13 years 4 months ago
2008
For a mathematical program with complementarity constraints (MPCC), we propose an active-set Newton method, which has the property of local quadratic convergence under the MPCC lin...
RSS
2007
13 years 6 months ago
2007
— In this paper we present an implicit time-stepping scheme for multibody systems with intermittent contact by incorporating the contact constraints as a set of complementarity a...