Semi-Analytic Method of Contact Modelling

Turk, Douglas and Wyeth, Gordon (2006). Semi-Analytic Method of Contact Modelling. In: Proceedings of the 2006 IEEE International Conference on Robotics and Automation (ICRA 2006). 2006 IEEE International Conference on Robotics and Automation (ICRA 2006): Humanitarian Robotics, Hilton in the Walt Disney World Resort Hotel, Orlando, Forida, U.S.A., (1957-1962). 15-19 May 2006. doi:10.1109/ROBOT.2006.1641992


Author Turk, Douglas
Wyeth, Gordon
Title of paper Semi-Analytic Method of Contact Modelling
Conference name 2006 IEEE International Conference on Robotics and Automation (ICRA 2006): Humanitarian Robotics
Conference location Hilton in the Walt Disney World Resort Hotel, Orlando, Forida, U.S.A.
Conference dates 15-19 May 2006
Convener IEEE Robotics and Automation Society
Proceedings title Proceedings of the 2006 IEEE International Conference on Robotics and Automation (ICRA 2006)   Check publisher's open access policy
Journal name Proceedings - IEEE International Conference on Robotics and Automation   Check publisher's open access policy
Place of Publication Piscataway, N.J.
Publisher IEEE
Publication Year 2006
Year available 2006
Sub-type Fully published paper
DOI 10.1109/ROBOT.2006.1641992
Open Access Status Not Open Access
ISBN 0-7803-9505-0
ISSN 1050-4729
Volume 2006
Start page 1957
End page 1962
Total pages 6
Language eng
Abstract/Summary 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.
Subjects 080101 Adaptive Agents and Intelligent Robotics
Q-Index Code E1
Q-Index Status Provisional Code
Institutional Status Unknown

 
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Created: Mon, 30 Mar 2009, 21:44:01 EST by Mary-Anne Marrington on behalf of School of Information Technol and Elec Engineering