Multi-contact frictional rigid dynamics using impulse decomposition


We present an interactive and stable multi-contact dynamic simulation algorithm for rigid bodies. Our approach is based on fast frictional dynamics (FFD) [14], which is designed for large sets of non-convex rigid bodies. We use a new friction model that performs velocity-level multi-contact simulation using impulse decomposition. Moreover, we accurately… (More)
DOI: 10.1109/IROS.2017.8206547


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