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...
ICRA
2003
IEEE
13 years 9 months ago
2003
IEEE
Abstract— This paper introduces a smooth control algorithm for controlling fully actuated distributed manipulation systems that operate by frictional contact. The control law sca...