Journal ArticleDOI
Issues in computing contact forces for non-penetrating rigid bodies
TLDR
Theoretical and practical issues in computing contact forces for systems with large numbers of contact points are considered and both systems of rigid bodies with and without Coulomb friction are studied.Abstract:
In rigid-body simulation it is necessary to compute the forces that arise between contacting bodies to prevent interpenetration. This paper studies the problem of rigid-body simulation when the bodies being simulated are restricted to contact at only finitely many points. Some theoretical and practical issues in computing contact forces for systems with large numbers of contact points are considered. Both systems of rigid bodies with and without Coulomb friction are studied. Complexity results are derived for certain classes of configurations and numerical methods for computing contact forces are discussed.read more
Citations
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Journal ArticleDOI
Graspit! A versatile simulator for robotic grasping
A.T. Miller,Peter K. Allen +1 more
TL;DR: The different types of world elements and the general robot definition are discussed and the robot library is presented, and the grip analysis and visualization method were presented.
Journal ArticleDOI
Engineering and Economic Applications of Complementarity Problems
Michael C. Ferris,Jong-Shi Pang +1 more
TL;DR: The goal of this documentation is to summarize the essential applications of the nonlinear complementarity problem known to date, to provide a basis for the continued research on the non linear complementarityproblem, and to supply a broad collection of realistic complementarity problems for use in algorithmic experimentation and other studies.
Proceedings ArticleDOI
Robust treatment of collisions, contact and friction for cloth animation
TL;DR: An algorithm to efficiently and robustly process collisions, contact and friction in cloth simulation is presented, which works with any technique for simulating the internal dynamics of the cloth, and allows true modeling of cloth thickness.
Journal ArticleDOI
An implicit time-stepping scheme for rigid body dynamics with inelastic collisions and coulomb friction
David E. Stewart,Jeff Trinkle +1 more
TL;DR: In this paper, a new time-stepping method for simulating systems of rigid bodies is given which incorporates Coulomb friction and inelastic impacts and shocks, which does not need to identify explicitly impulsive forces.
Proceedings ArticleDOI
Fast contact force computation for nonpenetrating rigid bodies
TL;DR: A new algorithm for computing contact forces between solid objects with friction that allows a mix of contact points with static and dynamic friction has proven to be considerably faster, simple, and more reliable than previous approaches.
References
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Book
Mathematical Methods of Classical Mechanics
TL;DR: In this paper, Newtonian mechanics: experimental facts investigation of the equations of motion, variational principles Lagrangian mechanics on manifolds oscillations rigid bodies, differential forms symplectic manifolds canonical formalism introduction to pertubation theory.
Journal ArticleDOI
Spatial Planning: A Configuration Space Approach
TL;DR: In this article, the authors propose an approach based on characterizing the position and orientation of an object as a single point in a configuration space, in which each coordinate represents a degree of freedom in the position or orientation of the object.
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Spatial planning: a configuration space approach
TL;DR: Algorithms for computing constraints on the position of an object due to the presence of ther objects, which arises in applications that require choosing how to arrange or how to move objects without collisions are presented.
Journal ArticleDOI
Formulation of a three-dimensional distinct element model - part i. a scheme to detect and represent contacts in a system composed of many polyhedral blocks
TL;DR: The distinct element method has advanced to a stage where the complex mechanical interactions of a discontinuous system can be modelled in three dimensions and an efficient data structure is utilizes which permits the rapid calculation on a personal computer of systems involving several hundred particles.