P. Song, P. Kraus, V. Kumar, and P. Dupont, "Analysis of Rigid-Body Dynamic Models for Simulation of Systems With Frictional Contacts" Journal of Applied Mechanics 68(1), 118-128, 2001. Home/Search Document Details and Download
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Real Time Simulation of Multizone Elastokinematic Models - James, Pai (2002) (Correct)
....well to elastic objects that can be partitioned into connected regions or zones; hence we describe these as multizone elastokinematic models. They can also be used for rapid approximation of the global deformation due to contact between two or more elastic bodies, chains, or mechanisms (see also [5], which models the local compliance, but not global effects) There has been significant work on interactive deformable objects recently [6] 7] 8] 9] 10] 2] 11] Our approach exploits recently developed capacitance matrix algorithms for interactive simulation of linear elastostatic ....
P. Song, P. Kraus, V. Kumar, and P. Dupont, "Analysis of Rigid Body Dynamic Models for Simulation of Systems with Frictional Contacts," ASME Transactions Journal of Applied Mechanics, pp. 118--128, 2001.
A Potential Field Based Approach to Multi-Robot Manipulation - Song, Kumar (2002) Self-citation (Song Kumar) (Correct)
....models to allow virtual collisions between the robot and its surroundings instead of avoiding them. We adopt a state variable based compliant contact model to compute the interaction forces between two contacting objects. The details and variations on the compliant contact model are discussed in [12]. A key feature of this model is that it allows to resolve the ambiguous situations when more than three objects came into contact with one robot. When objects (including other robots) from the environment enter the sensing zone, their relative position and velocity are estimated by the robot. ....
....robot. When objects (including other robots) from the environment enter the sensing zone, their relative position and velocity are estimated by the robot. When they enter the contact zone, the robot simulates contacts between the objects and its visco elastic shell using a compliant contact model [12] to compute normal and tangential forces exerted on the robot: # # # ######## ## (3) where # is the robot s estimate of the state of the world. The robot simulates its response to the external forces to generate its reference trajectory. Example We illustrate our approach by an example in which ....
P. Song, P. Kraus, V. Kumar, and P. Dupont. Analysis of rigid-- body dynamic models for simulation of systems with frictional contacts. ASME Journal or Applied Mechanics, 68:118--128, January 2001.
Dynamic Simulation for Grasping and Whole Arm Manipulation - Yashima, Kumar (2000) Self-citation (Song Kumar) (Correct)
....grasps. Of course such contact models tend to be more complex and the parameters are more difficult to identify. Further, it is harder to simulate systems in which the time scale for the dynamics of contact interactions is significantly different from the time scale of rigid body dynamics [13, 19]. The compliant contact model, while resolving the difficulties with the forward dynamics problem, can result in a high dimensional, stiff system of equations and a run time that is unacceptable for real time simulation. The simplicity and efficiency of rigid body models, on the other hand, ....
....stiff system of equations and a run time that is unacceptable for real time simulation. The simplicity and efficiency of rigid body models, on the other hand, provide strong motivation for their use during those portions of a simulation when the rigid body solution is unique and stable [19]. In this paper, we combine the positive aspects of both models 1 and develop an integrated approach to dynamic simulation. The basic idea is to use a rigid body dynamic model whenever appropriate guarantees of accuracy are available, and to switch to a compliant contact model in other cases. We ....
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P. Song, P. Kraus, V. Kumar, and P. Dupont. Analysis of rigid body dynamic models for simulation of systems with frictional contacts. Submitted to ASME Journal of Applied Mechanics, June 1999, 34 pages. URL: http://www.cis.upenn.edu/pengs/publications/jam99.ps.
Analysis of Rigid Body Dynamic Models for Simulation of.. - Song, Kraus, Kumar (2000) (2 citations) Self-citation (Song Kraus Kumar Dupont) (Correct)
....condition allows active contacts to become inactive. The case of inactive contacts becoming active is modeled by rigid body impacts and is treated elsewhere [12] Similar complementarity constraints can be found in the tangential direction by assuming Coulomb s friction. We refer the reader to [20] for details. The problem of determining contact forces can be reduced to a linear complementarity problem (LCP ) that has the form [22] x 0; y = Ax B 0; y T x = 0: 6) The LCP has a unique solution for all vectors B if and only if the matrix A is a P matrix [2] However, even if A is not a ....
P. Song, P. Kraus, V. Kumar, and P. Dupont. Analysis of rigid body dynamic models for simulation of systems with frictional contacts. Technical Report MS-CIS-00-08, University of Pennsylvania - Department of Computer and Information Science, 2000. Available at http://www.cis.upenn.edu/techreports.
A Constraint-Stabilized Time-Stepping Approach for Rigid.. - Anitescu, Hart (2002) (Correct)
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P. Song, P. Kraus, V. Kumar, and P. Dupont, "Analysis of Rigid-Body Dynamic Models for Simulation of Systems With Frictional Contacts" Journal of Applied Mechanics 68(1), 118-128, 2001.
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