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...
— This paper proposes a computational method of contact forces working between multibody system and environment in forward dynamics based on both the microbody-deformation model ...
In this paper, we present an adaptive model for dynamically deforming hyper-elastic rods. In contrast to existing approaches, adaptively introduced control points are not governed...
Simulation of dynamic systems possessing unilateral frictional contacts is important to many industrial applications. While rigid body models are often employed, it is well establ...
Snakes utilize irregularities in the terrain, such as rocks and vegetation, for faster and more efficient locomotion. This motivates the development of snake robots that actively u...
Aksel Andreas Transeth, Remco I. Leine, Christoph ...