7 citations · 11 across the 7 of their papers we have counts for
8 papers
An Unconditionally Stable First-Order Constraint Solver for Multibody Systems
Evan Drumwright
This article describes an absolutely stable, first-order constraint solverfor multi-rigid body systems that calculates (predicts) constraint forces for typical bilateral and unilat…
A pressure field model for fast, robust approximation of net contact force and moment between nominally rigid objects
Ryan Elandt, Evan Drumwright, Michael Sherman +1
We introduce an approximate model for predicting the net contact wrench between nominally rigid objects for use in simulation, control, and state estimation. The model combines and…
Fundamental Limitations in Performance and Interpretability of Common Planar Rigid-Body Contact Models
Nima Fazeli, Samuel Zapolsky, Evan Drumwright +1
The ability to reason about and predict the outcome of contacts is paramount to the successful execution of many robot tasks. Analytical rigid-body contact models are used extensiv…
Learning Data-Efficient Rigid-Body Contact Models: Case Study of Planar Impact
Nima Fazeli, Samuel Zapolsky, Evan Drumwright +1
In this paper we demonstrate the limitations of common rigid-body contact models used in the robotics community by comparing them to a collection of data-driven and data-reinforced…
True Rigidity: Interpenetration-free Multi-Body Simulation with Polytopic Contact
Evan M. Drumwright
An effective paradigm for simulating the dynamics of robots that locomote and manipulate is multi-rigid body simulation with rigid contact. This paradigm provides reasonable tradeo…
Particle Traces for Detecting Divergent Robot Behavior
Samuel Zapolsky, Evan Drumwright
The motion of robots and objects in our world is often highly dependent upon contact. When contact is expected but does not occur or when contact is not expected but does occur, ro…