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...
ICRA
2010
IEEE
13 years 3 months ago
2010
IEEE
— In recent years, learning models from data has become an increasingly interesting tool for robotics, as it allows straightforward and accurate model approximation. However, in ...
WSCG
2001
13 years 5 months ago
2001
This paper demonstrates that techniques in flexible body dynamics can yield surprising results when applied to rigid bodies. The discussion presents a technique for constructing r...
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 ...
ICRA
2003
IEEE
13 years 9 months ago
2003
IEEE
— Rigid body dynamics with contact constraints can be solved locally using linear complementarity techniques. However, these techniques do not impose the original constraints and...
ROBOCUP
2005
Springer
13 years 10 months ago
2005
Springer
This paper describes SimRobot, a robot simulator which is able to simulate arbitrary user-defined robots in three-dimensional space. It includes a physical model which is based on...
HAPTICS
2005
IEEE
13 years 10 months ago
2005
IEEE
In this paper we present a novel approach for simulating the rigid body dynamics of a haptically manipulated object using implicit integration. Our formulation requires the linear...