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.
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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|Item Type:||Conference Paper|
|Keywords:||differential equation, force control, humanoid robots, mechsnical contact, robot kinematics, shock absorbers, springs (mechanical), stability, vibration control|
|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 11:37|
|Last Modified:||11 Aug 2011 03:58|
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