Multi-contact frictional rigid dynamics using impulse decomposition

  title={Multi-contact frictional rigid dynamics using impulse decomposition},
  author={Sheng Li and Tianxiang Zhang and Guoping Wang and Hanqiu Sun and Dinesh Manocha},
  journal={2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
  • S. Li, Tianxiang Zhang, +2 authors D. Manocha
  • Published 1 September 2017
  • Computer Science
  • 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
We present an interactive and stable multi-contact dynamic simulation algorithm for rigid bodies. [...] Key Method We use a new friction model that performs velocity-level multi-contact simulation using impulse decomposition. Moreover, we accurately handle friction at each contact point using contact distribution and frictional impulse solvers, which also account for relative motion. We evaluate our algorithm's performance on many complex multi-body benchmarks with thousands of contacts. In practice, our…Expand


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