Annals of Operations Research - Special Issue: Parallel Optimization on Novel Computer Architectures
Linear-time dynamics using Lagrange multipliers
SIGGRAPH '96 Proceedings of the 23rd annual conference on Computer graphics and interactive techniques
Rigid-Body Dynamics with Friction and Impact
SIAM Review
Convex Optimization
Evaluation of real-time physics simulation systems
Proceedings of the 5th international conference on Computer graphics and interactive techniques in Australia and Southeast Asia
Virtual-RE: A Humanoid Robotic Soccer Simulator
CW '08 Proceedings of the 2008 International Conference on Cyberworlds
Adequate motion simulation and collision detection for soccer playing humanoid robots
Robotics and Autonomous Systems
PerMIS '08 Proceedings of the 8th Workshop on Performance Metrics for Intelligent Systems
An iterative approach for cone complementarity problems for nonsmooth dynamics
Computational Optimization and Applications
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Open Dynamics Engine (ODE) is the most popular rigidbody dynamics implementation for robotics simulation applications. While using it to simulate common robotic scenarios like mobile robot locomotion and simple grasping, we have identified the following shortcomings each of which adversely affect robot simulation: lack of computational efficiency, poor support for practical joint-dampening, inadequate solver robustness, and friction approximation via linearization. In this paper we describe extensions to ODE that address each of these problems. Because some of these objectives lie in opposition to others--e.g., speed versus verisimilitude--we have carried out experiments in order to identify the trade-offs involved in selecting from our extensions. Results from both elementary physics and robotic task-based scenarios show that speed improvements can be gained along with useful joint-dampening. If one is willing to accept an execution time cost, we are able to represent the full-friction cone, while simultaneously guaranteeing a solution from our numerical solver.