Comparison of contact models for robotics simulation
Authors
Horak, Peter
ORCID
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Other Contributors
Trinkle, Jeffrey C.
Cutler, Barbara M.
Carothers, Christopher D.
Cutler, Barbara M.
Carothers, Christopher D.
Issue Date
2018-05
Keywords
Computer science
Degree
MS
Terms of Use
This electronic version is a licensed copy owned by Rensselaer Polytechnic Institute, Troy, NY. Copyright of original work retained by author.
Full Citation
Abstract
Models of rigid-body dynamics are frequently used in robotics. Smooth dynamics, even with joint constraints, can be simulated efficiently and accurately. However, some of the most difficult and important problems in robotics involve contacts between bodies, which introduce non-smoothness. Various approaches have been proposed to simulate contact dynamics. Some relax the problem to improve computational properties. However, the tradeoffs and differences between these models are not well characterized.
Description
May 2018
School of Science
School of Science
Department
Dept. of Computer Science
Publisher
Rensselaer Polytechnic Institute, Troy, NY
Relationships
Rensselaer Theses and Dissertations Online Collection
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