ICRA
1998
IEEE
13 years 8 months ago
1998
IEEE
Simulation of dynamic systems possessing unilateral frictional contacts is important to many industrial applications. While rigid body models are often employed, it is well establ...
ICRA
2000
IEEE
13 years 9 months ago
2000
IEEE
We propose a novel approach to dynamic simulation of grasps that overcomes di culties due to inconsistencies in the forward dynamics problem. The key idea in the paper is a minima...