10 search results - page 2 / 2 » Optimization-based simulation of nonsmooth rigid multibody d... |
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ICRA
2007
IEEE
16 years 21 days ago
2007
IEEE
Abstract— This paper discusses the design and current capabilities of a new software tool, dVC, capable of simulating planar systems of bodies experiencing unilateral contacts wi...
157
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TOG
2008
15 years 6 months ago
2008
We present a new discrete velocity-level formulation of frictional contact dynamics that reduces to a pair of coupled projections and introduce a simple fixed-point property of th...
178
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SIGGRAPH
2000
ACM
15 years 10 months ago
2000
ACM
Physical simulation of dynamic objects has become commonplace in computer graphics because it produces highly realistic animations. In this paradigm the animator provides few phys...
183
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JVCA
2007
15 years 6 months ago
2007
This paper describes an impulse-based dynamic simulation method for articulated bodies which has a linear time complexity. Existing linear-time methods are either based on a reduc...
157
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SAC
2009
ACM
16 years 1 months ago
2009
ACM
Existing contact modeling in rigid body simulation is inadequate for robotics: no algorithms guarantee both convergence and nonpenetration at multiple contact points in the presen...