A robust and tractable contact model for dynamic robotic simulation

  • Drumwright E
  • Shell D
  • 28

    Readers

    Mendeley users who have this article in their library.
  • 9

    Citations

    Citations of this article.

Abstract

Existing contact modeling in rigid body simulation is inadequate for robotics: no algorithms guarantee both convergence and nonpenetration at multiple contact points in the presence of Coulomb friction. We present a convex optimization based algorithm that models simultaneous contact at multiple points, ensures nonpenetration, and yields Coulomb friction effects. An example of simulated robotic grasping shows that the proposed algorithm is robust where most other methods fail.

Get free article suggestions today

Mendeley saves you time finding and organizing research

Sign up here
Already have an account ?Sign in

Find this document

Authors

  • Evan Drumwright

  • Dylan A. Shell

Cite this document

Choose a citation style from the tabs below

Save time finding and organizing research with Mendeley

Sign up for free