Analytical methods for dynamic simulation of non-penetrating rigid bodies
SIGGRAPH '89 Proceedings of the 16th annual conference on Computer graphics and interactive techniques
Coping with friction for non-penetrating rigid body simulation
Proceedings of the 18th annual conference on Computer graphics and interactive techniques
Fast contact force computation for nonpenetrating rigid bodies
SIGGRAPH '94 Proceedings of the 21st annual conference on Computer graphics and interactive techniques
V-Clip: fast and robust polyhedral collision detection
ACM Transactions on Graphics (TOG)
Rigid-Body Dynamics with Friction and Impact
SIAM Review
Collision Detection and Response for Computer Animation
SIGGRAPH '88 Proceedings of the 15th annual conference on Computer graphics and interactive techniques
Realistic animation of rigid bodies
SIGGRAPH '88 Proceedings of the 15th annual conference on Computer graphics and interactive techniques
Robot Dynamics Algorithm
Nonconvex rigid bodies with stacking
ACM SIGGRAPH 2003 Papers
Impulse-based dynamic simulation of rigid body systems
Impulse-based dynamic simulation of rigid body systems
Convex Optimization
A Fast and Stable Penalty Method for Rigid Body Simulation
IEEE Transactions on Visualization and Computer Graphics
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Existing contact modeling in rigid body simulation is inadequate for robotics: no algorithms guarantee both convergence and nonpenetration at multiple contact points in the presence of Coulomb friction. We present a convex optimization based algorithm that models simultaneous contact at multiple points, ensures nonpenetration, and yields Coulomb friction effects. An example of simulated robotic grasping shows that the proposed algorithm is robust where most other methods fail.