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AN IMPLICIT TIME-STEPPING SCHEME FOR RIGID BODY DYNAMICS WITH INELASTIC COLLISIONS AND COULOMB FRICTION
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. Unlike other methods which take an…
On the stability and instantaneous velocity of grasped frictionless objects
- J. Trinkle
- EngineeringIEEE Trans. Robotics Autom.
- 1 October 1992
An efficient quantitative test for form closure valid for any number of contact points is formulated as a linear program, the optimal objective value of which provides a measure of how far a grasp is…
On Dynamic Multi‐Rigid‐Body Contact Problems with Coulomb Friction
This paper is a summary of a comprehensive study of the problem of predicting the accelerations of a set of rigid, three‐dimensional bodies in contact in the presence of Coulomb friction. We begin…
An implicit time-stepping scheme for rigid body dynamics with Coulomb friction
A new time-stepping method for simulating systems of rigid bodies based on impulse-momentum equations that does not require explicit collision checking and it can handle simultaneous impacts.
Grasp analysis as linear matrix inequality problems
Numerical studies are performed to show the simplicity and efficiency of the LMI formulation to the three grasp analysis problems and cast the friction cone constraints into linear matrix inequalities (LMIs) and formulate all three problems as a set ofconvex optimization problems involving LMIs.
Planning Long Dynamically-Feasible Maneuvers for Autonomous Vehicles
An algorithm for generating complex dynamically-feasible maneuvers for autonomous vehicles traveling at high speeds over large distances based on performing anytime incremental search on a multiresolution, dynamically- Feasible lattice state space is presented.
Complementarity formulations and existence of solutions of dynamic multi-rigid-body contact problems with coulomb friction
A nonlinearity of Coulomb's law leads to a nonlinear complementarity formulation of the system model, used in conjunction with the theory of quasi-variational inequalities to prove for the first time that multi-rigid-body systems with all contacts rolling always has a solution under a feasibility-type condition.
A Roadmap for US Robotics - From Internet to Robotics 2020 Edition
The present document is a summary of the main societal opportunities identified, the associated challenges to deliver desired solutions and a presentation of efforts to be undertaken to ensure that US will be a leader in robotics both in terms of research innovation, adoption of the latest technology, and adoption of appropriate policy frameworks.
Dextrous manipulation by rolling and finger gaiting
This work integrates the relevant theories of contact kinematics, nonholonomic motion planning, coordinated object manipulation, grasp stability and finger gaits to develop a general framework for dextrous manipulation planning.
A Quantitative Test For Form Closure Grasps
- J. Trinkle
- PsychologyProceedings of the IEEE/RSJ International…
- 7 July 1992
The primary contribution of this paper is the introduction of a test formulated as a lineor program, of which the optimal objective value provides a measure of how far a grasp is from losing, form closure.