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ICRA
2010
IEEE
179views Robotics» more  ICRA 2010»
9 years 10 months ago
Accelerometer-based tilt estimation of a rigid body with only rotational degrees of freedom
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...
Sebastian Trimpe, Raffaello D'Andrea
ICRA
2010
IEEE
104views Robotics» more  ICRA 2010»
9 years 10 months ago
Using model knowledge for learning inverse dynamics
— 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 ...
Duy Nguyen-Tuong, Jan Peters
WSCG
2001
202views more  WSCG 2001»
10 years 27 days ago
On Flexible Body Approximations of Rigid Body Dynamics
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...
John McDonald
CDC
2009
IEEE
176views Control Systems» more  CDC 2009»
10 years 4 months ago
Dynamics of a 3D elastic string pendulum
— 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 ...
Taeyoung Lee, Melvin Leok, N. Harris McClamroch
ICRA
2003
IEEE
225views Robotics» more  ICRA 2003»
10 years 4 months ago
Post-stabilization for rigid body simulation with contact and constraints
— Rigid body dynamics with contact constraints can be solved locally using linear complementarity techniques. However, these techniques do not impose the original constraints and...
Michael B. Cline, Dinesh K. Pai
ROBOCUP
2005
Springer
119views Robotics» more  ROBOCUP 2005»
10 years 5 months ago
SimRobot - A General Physical Robot Simulator and Its Application in RoboCup
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...
Tim Laue, Kai Spiess, Thomas Röfer
HAPTICS
2005
IEEE
10 years 5 months ago
Stable and Responsive Six-Degree-of-Freedom Haptic Manipulation Using Implicit Integration
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...
Miguel A. Otaduy, Ming C. Lin
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