Simulation of dynamics of interacting rigid bodies including friction II: Software system design and implementation

Goyal, Siddharth; Pinson, Elliot N.; Sinden, Frank W.

doi:10.1007/bf01198743

Cited by 37 publications

(20 citation statements)

References 7 publications

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“…Even for something as simple as a metal rod, the measured coefficient of restitution can vary over most of the feasible range [SH96]. The other alternative is to introduce virtual springs and dampers at the contact points (e.g., [GPS94]), to remove the contact state sensitivity. Optimization-based animation [MS01] has similar advantages.…”

Section: Figure 1: a Romance Of Two Computer Graphics Classics (A) Tmentioning

confidence: 99%

Quasi-rigid objects in contact

Pauly

Pai

Guibas

2004

Proceedings of the 2004 ACM SIGGRAPH/Eurographics Symposium on Computer Animation - SCA '04

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Section: Figure 1: a Romance Of Two Computer Graphics Classics (A) Tmentioning

confidence: 99%

Quasi-rigid objects in contact

Pauly

Pai

Guibas

2004

Proceedings of the 2004 ACM SIGGRAPH/Eurographics Symposium on Computer Animation - SCA '04

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“…Hence, their accelerations are rapid and so are the contact forces [20,21]. It is assumed that the positions of the contact nodes remain unchanged during collision.…”

Section: The External Contact Model Of the Robotmentioning

confidence: 99%

Dynamical Modelling and a Decentralized Adaptive Controller for a 12-Tetrahedral Rolling Robot

Wang

Zhang

2018

TFAMENA

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SummaryThe 12-tetrahedral robot is an addressable reconfigurable technology (ART)-based variable geometry truss mechanism with twenty-six extensible struts and nine nodes arranged in a tetrahedral mesh. The robot has the capability of reconfiguring shape and dimension for environment sensing requirements, which makes it suitable for space exploration and environmental perception. In this paper, we have derived a dynamics model and presented a decentralized adaptive controller for a 12-tetrahedral robot. First, the robot is divided into the node and the strut subsystems, and the kinetic and the potential energy are calculated for the two subsystems. Then, the dynamics model is achieved by applying the Lagrangian formalism on the total energy of the robot. Since the dynamics is too complicated for implementing model-based controllers, a two-layer controller is presented to control the robot, in which the planning layer determines gait and trajectory of the robot, and the executive layer adopts the decentralized adaptive control strategy and consists of twenty-six strut controllers. Each strut controller regulates the movement of the corresponding strut without information exchange with other struts. Co-simulations based on ADAMS and Matlab have been conducted to verify the feasibility and effectiveness of the proposed controller.

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“…Fujino et al [13] have presented a 3D impact model that they have used in simulations of earthquake induced pounding of bridges' segments [14] and which is quite similar to that used by Goyal et al [15] who simulated the contact between distinct rigid bodies. In particular, Fujino et al considered the case of a point of the impacting body hitting against the target surface.…”

Section: Existing Knowledge On Impact Modellingmentioning

confidence: 99%