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math.NA2019★ 1 cited
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…
cs.CE2019
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…