Comparison of contact models for robotics simulation
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Authors
Horak, Peter
Issue Date
2018-05
Type
Electronic thesis
Thesis
Thesis
Language
ENG
Keywords
Computer science
Alternative Title
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
Full Citation
Publisher
Rensselaer Polytechnic Institute, Troy, NY