Implicit nonlinear complementarity: A new approach to contact dynamics

Proceedings - IEEE International Conference on Robotics and Automation

Volumn , Issue , 2010, Pages 2322-2329

  Todorov, Emanuel ^a  

^a UNIVERSITY OF WASHINGTON   (United States)

Author keywords

[No Author keywords available]

Indexed keywords

AUXILIARY VARIABLES; COMPLEMENTARITY CONSTRAINT; CONTACT DYNAMICS; CONTACT VELOCITY; DAMPER MODEL; FRICTION CONES; GAUSS-NEWTON METHODS; INDEPENDENT VARIABLES; LINEAR COMPLEMENTARITY PROBLEMS; NEW APPROACHES; NON-SMOOTH; NUMERICAL TESTS; PROBLEM STRUCTURE; USAGE SCENARIOS; WARM START;

EQUATIONS OF MOTION; FRICTION; NEWTON-RAPHSON METHOD; ROBOTS;

ROBOTICS;

EID: 77955821719     PISSN: 10504729     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/ROBOT.2010.5509739     Document Type: Conference Paper

References (11)

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