Dynamic simulator for humanoids using constraint-based method with static friction

2006 IEEE International Conference on Robotics and Biomimetics, ROBIO 2006

Volumn , Issue , 2006, Pages 1366-1371

  Chardonnet, J R ^a   Miossec, S ^b   Kheddar, A ^c   Arisumi, H ^b   Hirukawa, H ^b   Pierrot, F ^d   Yokoi, K ^b  

^a LIRMM   (France)

^b NATIONAL INSTITUTE OF ADVANCED INDUSTRIAL SCIENCE AND TECHNOLOGY AIST   (Japan)

^c CNRS   (France)

^d NONE

Author keywords

[No Author keywords available]

Indexed keywords

(1 1 1) ORIENTATION; CONSTRAINT-BASED; CONTACT FORCES; DISCRETIZATION; DYNAMIC SIMULATORS; EFFICIENT IMPLEMENTATION; FRICTION CONES; GAUSS-SEIDEL (GS); INTERNATIONAL CONFERENCES; MANIPULATION TASKS; MULTI BODY DYNAMICS; OPERATIONAL SPACE FORMULATION; STATIC AND DYNAMIC; STATIC FRICTION; TECHNICAL DETAILS;

AUTOMATION; BIOMIMETICS; FRICTION; ROBOTICS; SIMULATORS; WIRELESS TELECOMMUNICATION SYSTEMS;

TRIBOLOGY;

EID: 46249119135     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/ROBIO.2006.340128     Document Type: Conference Paper

References (14)

1. K. Yamane and Y. Nakamura, "Stable penalty-based model of frictional contacts," in IEEE International Conference on Robotics and Automation, 2006.
2. E. Kokkevis, "Practical physics for articulated characters," in Game Developers Conference, 2004.
3. D. Baraff, "Fast contact force computation for nonpenetrating rigid bodies," in SIGGRAPH, 1994.
4. M. Anitescu and F A. Potra, "A time-stepping method for stiff multibody dynamics with contact and friction," International Journal for Numerical Methods in Engineering, 2002.
5. D. Stewart and J. Trinkle, "An implicit time-stepping scheme for rigid body dynamics with coulomb friction," in IEEE International Conference on Robotics and Automation, 2000.
6. H. I. C. Andrew T. Miller, "Implementation of multi-rigid-body dynamics within a robotic grasping simulator," in IEEE International Conference on Robotics and Automation, 2003.
7. D. C. Ruspini and O. Khatib, "Collision/contact models for dynamics simulation and haptic interaction," in International Symposium of Robotics Research, 1999.
8. T. Liu and M. Y. Wang, "Computation of three-dimensional rigid-body dynamics with multiple unilateral contacts using time-stepping and gauss-seidel methods," IEEE Transactions on Automation Science and Engineering, 2005.
9. C. Duriez, F. Dubois, A. Kheddar, and C. Andriot, "Realistic haptic rendering of interacting deformable objects in virtual environments," IEEE Transactions on Vizualization and Computer Graphics, 2006.
10. R. Featherstone, Robot dynamics algorithms. Kluwer Academic Publishers, 1987.
11. B. Mirtich, "Impulse-based dynamic simulation of rigid body systems," Ph.D. dissertation, University of California at Berkeley, 1996.
12. M. Jean, "Numerical methods for three dimensional dynamical problems," in Conference Contact Mechanics, Southampton, 1993.
13. K.-S. Chang and O. Khatib, "Operational space dynamics: Efficient algorithms for modeling and control of branching mechanisms," in IEEE International Conference on Robotics and Automation, 2000.
14. T. Möller, "A fast triangle-triangle intersection test," Journal of Graphics Tools, 1997.