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dc.rights.licenseRestricted to current Rensselaer faculty, staff and students. Access inquiries may be directed to the Rensselaer Libraries.
dc.contributorTrinkle, Jeffrey C.
dc.contributorCutler, Barbara M.
dc.contributorCarothers, Christopher D.
dc.contributor.authorHorak, Peter
dc.date.accessioned2021-11-03T09:01:43Z
dc.date.available2021-11-03T09:01:43Z
dc.date.created2018-07-27T15:38:18Z
dc.date.issued2018-05
dc.identifier.urihttps://hdl.handle.net/20.500.13015/2232
dc.descriptionMay 2018
dc.descriptionSchool of Science
dc.description.abstractModels 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.
dc.description.abstractThis thesis aims to identify and explain differences in a case study of four contact models. Simulated trajectories from the models are compared in seven different scenarios, which include wedging a box, grasping a sphere, and dropping spheres into a box. The models exhibit qualitatively different behaviors in the scenarios, some of which only become evident with multiple simultaneous contacts. The results can help inform roboticists when choosing contact models for specific applications or isolating sources of unphysical behavior.
dc.language.isoENG
dc.publisherRensselaer Polytechnic Institute, Troy, NY
dc.relation.ispartofRensselaer Theses and Dissertations Online Collection
dc.subjectComputer science
dc.titleComparison of contact models for robotics simulation
dc.typeElectronic thesis
dc.typeThesis
dc.digitool.pid179100
dc.digitool.pid179101
dc.digitool.pid179102
dc.rights.holderThis electronic version is a licensed copy owned by Rensselaer Polytechnic Institute, Troy, NY. Copyright of original work retained by author.
dc.description.degreeMS
dc.relation.departmentDept. of Computer Science


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