7 citations · 11 across the 7 of their papers we have counts for
6 papers · 1 filter
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…
Inverse Dynamics with Rigid Contact and Friction
Samuel Zapolsky, Evan Drumwright
Inverse dynamics is used extensively in robotics and biomechanics applications. In manipulator and legged robots, it can form the basis of an effective nonlinear control strategy b…
Rapidly computable viscous friction and no-slip rigid contact models
Evan Drumwright
This article presents computationally efficient algorithms for modeling two special cases of rigid contact---contact with only viscous friction and contact without slip---that have…