An Implicit Time-Stepping Scheme for Rigid Body Dynamics with Coulomb Friction

@inproceedings{Stewart2000AnIT,
  title={An Implicit Time-Stepping Scheme for Rigid Body Dynamics with Coulomb Friction},
  author={David E. Stewart and Jeffrey C. Trinkle},
  booktitle={ICRA},
  year={2000}
}
In this paper a new time-stepping method for simulating systems of rigid bodies is given. Unlike methods which take an instantaneous point of view, our method is based on impulse-momentum equations, and so does not need to explicitly resolve impulsive forces. On the other hand, our method is distinct from previous impulsive methods in that it does not require explicit collision checking and it can handle simultaneous impacts. Numerical results are given for one planar and one threedimensional… CONTINUE READING
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