TOG
2010
12 years 11 months ago
2010
We present a method for directly modeling piles of objects in multibody simulations. Piles of objects represent some of the more interesting, but also most time-consuming portion ...
JNS
2011
12 years 11 months ago
2011
A 3D pendulum consists of a rigid body, supported at a fixed pivot, with three rotational degrees of freedom. The pendulum is acted on by a gravitational force. Symmetry assumptio...
ICRA
2010
IEEE
13 years 3 months ago
2010
IEEE
Abstract— An estimation algorithm is developed for determining pitch and roll angles (tilt) of a rigid body fixed at a pivot using multiple accelerometers. The estimate is globa...
TROB
2002
13 years 4 months ago
2002
Abstract--A new image-based control strategy for visual servoing of a class of under-actuated rigid body systems is presented. The proposed control design applies to "eye-in-h...
AUTOMATICA
2004
13 years 4 months ago
2004
In this paper we study the attitude estimation problem for an accelerated rigid body using gyros and accelerometers. The application in mind is that of a walking robot and particu...
ICRA
1998
IEEE
13 years 8 months ago
1998
IEEE
This paper investigates methods for computing a smooth motion that interpolates a given set of positions and orientations of a rigid body. To make the interpolation independent of...
SIGGRAPH
2000
ACM
13 years 9 months ago
2000
ACM
The traditional high-level algorithms for rigid body simulation work well for moderate numbers of bodies but scale poorly to systems of hundreds or more moving, interacting bodies...
CDC
2009
IEEE
13 years 9 months ago
2009
IEEE
— This paper presents an analytical model and a geometric numerical integrator for a rigid body connected to an elastic string, acting under a gravitational potential. Since the ...
CDC
2009
IEEE
13 years 9 months ago
2009
IEEE
— Manipulation of particles suspended in fluids is crucial for many applications, such as precision machining, chemical processes, bio-engineering, and self-feeding of microorga...
ICRA
2009
IEEE
13 years 11 months ago
2009
IEEE
— In a wide range of applications the orientation of a rigid body does not need to be restricted to one given orientation, but can be given as a continuous set of frames. We addr...