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ICRA
2005
IEEE
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13 years 9 months ago
Dynamic Ambiguities in Frictional Rigid-body Systems with Application to Climbing via Bracing
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...
Aaron Greenfield, Alfred A. Rizzi, Howie Choset
SAC
2009
ACM
13 years 10 months ago
A robust and tractable contact model for dynamic robotic simulation
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...
Evan Drumwright, Dylan A. Shell