Solving models of controlled dynamic planar rigid-body systems with frictional contact

International Journal of Robotics Research

Volumn 24, Issue 11, 2005, Pages 911-931

  Greenfield, Aaron ^a   Saranli, Uluc ^a   Rizzi, Alfred A ^a  

^a CARNEGIE MELLON UNIVERSITY   (United States)

Author keywords

Contact modeling; Coulomb friction; Dynamic flipping; Dynamic indeterminacy; RHex robot; Rigid body dynamics; Static indeterminacy

Indexed keywords

BEHAVIORAL RESEARCH; COMPUTER SIMULATION; FRICTION; NUMERICAL ANALYSIS; RIGIDITY; ROBOTS;

COLUMB FRICTION; CONTACT MODELING; DYNAMIC FLIPPING; DYNAMIC INDETERMINANCY; RHEX SYSTEM; STATIC INDETERMINANCY;

ROBOTICS;

EID: 27744585831     PISSN: 02783649     EISSN: None     Source Type: Journal    
DOI: 10.1177/0278364905059056     Document Type: Conference Paper

References (34)

1. Anitescu, M. 2000. On solving mathematical programs with complementarity constraints as non-linear programs. Technical Report ANL/MCS-P864-1200, Argonne National Laboratory, Argonne, IL.
2. Anitescu, M. and Potra, F. A. 1997. Formulating dynamic multi-rigid-body contact problems with friction as solvable linear complementarity problems. Nonlinear Dynamics 14(3):231-247.
3. Balkcom, D. and Trinkle, J. C. 2002. Computing wrench cones for planar rigid body contact tasks. International Journal of Robotics Research 21(12):1053-1066.
4. Baraff, D. 1990. Determining frictional inconsistency is NP-complete. Technical Report TR90-1112, Computer Science Department, Cornell University, April.
5. Bretl, T., Rock, S., and Latombe, J. C. 2003. Motion planning for a three-limbed climbing robot in vertical natural terrain. Proceedings of the IEEE International Conference on Robotics and Automation, Taipei, Taiwan, September 14-19, pp. 3964-3969.
6. Brogliato, B. 2003. Some perspectives on the analysis and control of complementarity systems. IEEE Transactions on Automatic Control 48(6):918-935.
7. Choset, H. and Henning, W. 1999. A follow-the-leader approach to serpentine robot motion planning. ASCE Journal of Aerospace Engineering 12(2):65-73.
8. Demmel, J. W. 1997. Applied Numerical Linear Algebra, SIAM, Philadelphia, PA.
9. Erdmann, M. 1994. On a representation of friction in configuration space. International Journal of Robotics Research 13(3):240-271.
10. Fiorini, P. and Burdick, J. 2003. The development of hopping capabilities for small robots. Autonomous Robots 14(2-3):239-254.
11. Hale, E., Schara, N., Burdick, J. W., and Fiorini, P. 2000. A minimally actuated hopping rover for exploration of celestial bodies. Proceedings of the IEEE International Conference on Robotics and Automation, San Francisco, CA, April, pp. 420-427.
12. Hirai, S. and Asada, H. 1993. Kinematics and statics of manipulation using the theory of polyhedral convex cones. International Journal of Robotics Research 12(5):434-447.
13. Hodgins, J. and Raibert, M. H. 1990. Biped gymnastics. International Journal of Robotics Research 9(2): 115-132.
14. Huang, H. P. and McClamroch, N. H. 1988. Time-optimal control for a robotic contour following problem. IEEE Journal of Robotics and Automation 4(2): 140-149.
15. Huynh, T., Lassez, C., and Lassez, J.-L. 1992. Practical issues on the projection of polyhedral sets. Annals of Mathematics and Artificial Intelligence 6:295-316.
16. Lemke, C. E. 1970. Recent results in complementarity problems. Nonlinear Programming, J. B. Rosen et al., editors, Academic Press, New York, pp. 349-384.
17. Lostedt, P. 1982. Mechanical systems of rigid bodies subject to unilateral constraints. SIAM Journal of Applied Mathematics 42(2):281-296.
18. Mason, M. T. 2001. Mechanics of Robotic Manipulation, 1st edition, MIT Press, Cambridge, MA.
19. Matthies, L., Xiong, Y., Hogg, R., Zhu, D., Rankin, A., Kennedy, B., Hebert, M., Maclachlan, R., Won, C., Frost, T., Sukhatme, G., McHenry, M., and Goldberg, S. 2000. A portable, autonomous, urban reconnaissance robot. Proceedings of the 6th International Conference on Intelligent Autonomous Systems, Venice, Italy, July.
20. Monteiro Marques, M. D. P. 1993. Differential Inclusions in Nonsmooth Mechanical Problems: Shocks and Dry Friction. Progress in Nonlinear Differential Equations and Their Applications, Vol. 9, BirkhÄuser, Basle.
21. Nakanishi, J., Fukuda, T., and Koditschek, D. E. 2000. A brachiating robot controller. IEEE Transactions on Robotics and Automation 16(2): 109-123.
22. Or, Y. and Rimon, E. 2003. Robust multiple-contact postures in a two-dimensional gravitational field. Technical Report, Technion University Department of Mechanical Engineering.
23. Pang, J. S. and Trinkle, J. C. 2000. Stability characterizations of rigid body contact problems with Coulomb friction. Proceedings of the IEEE International Conference on Robotics and Automation, San Francisco, CA, April, Vol. 1, pp. 361-368.
24. Peng, J., Anitescu, M., and Akella, S. 2004. Optimal control of multiple robot systems with friction using mathematical programs with complementarity constraints. Proceedings of the IEEE International Conference on Robotics and Automation, New Orleans, LA, April, Vol. 5, pp. 5224-5231.
25. Pfeiffer, F. and Glocker, C. 1996. Multibody Dynamics with Unilateral Contacts, 1st edition, Wiley, New York.
26. Prattichizzo, D. and Bicchi, A. 1998. Dynamics analysis of mobility and graspability of general manipulation systems. IEEE Transactions on Robotics and Automation 14(2):241-258.
27. Raibert, M. 1986. Legged Robots that Balance, Series in Artificial Intelligence, MIT Press, Boston, MA.
28. Rajan, V. T., Burridge, R., and Schwartz, T. 1987. Dynamics of a rigid body in frictional contact with rigid walls. Proceedings of the IEEE International Conference on Robotics and Automation, Raleigh, NC, March, Vol. 4, pp. 671-677.
29. Saranli, U., Buehler, M., and Koditschek, D. E. 2001. RHex: a simple and highly mobile robot. International Journal of Robotics Research 20(7):616-631.
30. Saranli, U., Rizzi, A. A., and Koditschek, D. E. 2004. Model-based dynamic self-righting maneuvers for a hexapedal robot. International Journal of Robotics Research 23(9):903-918.
31. Stewart, D. E. 2000. Rigid-body dynamics with friction and impact. SIAM Review 42(1):3-39.
32. Trinkle, J. C., Pang, J. S., Sudarsky, S., and Lo, G. 1997. On dynamic multi-rigid-body contact problems with Coulomb friction. Zeitschrift für Angewandte Mathematik und Mechanik 77:267-279.
33. Tunstel, E. 1999. Evolution of autonomous self-righting behaviors for articulated nanorovers. Proceedings of the 5th International Symposium on Artificial Intelligence, Robotics and Automation in Space, Noordwijk, the Netherlands, June, pp. 341-346.
34. Vanderbei, R. J. 2001. Linear Programming: Foundations and Extensions, Kluwer Academic, Dordrecht.