Semi-analytic method of contact modelling

Turk, Dong & Wyeth, Gordon (2006) Semi-analytic method of contact modelling. In Proceedings 2006 IEEE International Conference on Robotics and Automation, 2006. ICRA 2006., IEEE, Orlando, Florida, p. 1957.

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An algorithm to improve the accuracy and stability of rigid-body contact force calculation is presented. The algorithm uses a combination of analytic solutions and numerical methods to solve a spring-damper differential equation typical of a contact model. The solution method employs the recently proposed patch method, which especially suits the spring-damper differential equations. The resulting semi-analytic solution reduces the stiffness of the differential equations, while performing faster than conventional alternatives.

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1 citations in Scopus
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1 citations in Web of Science®

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ID Code: 32875
Item Type: Conference Paper
Refereed: Yes
Additional URLs:
Keywords: differential equation, force control, humanoid robots, mechsnical contact, robot kinematics, shock absorbers, springs (mechanical), stability, vibration control
DOI: 10.1109/ROBOT.2006.1641992
ISBN: 0780395050
Subjects: Australian and New Zealand Standard Research Classification > INFORMATION AND COMPUTING SCIENCES (080000) > ARTIFICIAL INTELLIGENCE AND IMAGE PROCESSING (080100) > Adaptive Agents and Intelligent Robotics (080101)
Deposited On: 24 Jun 2010 01:37
Last Modified: 10 Aug 2011 17:58

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