— Analyses of position and force control laws in the case of perfectly rigid bodies have been made so far with strong assumptions on the state of the contacts such as supposing t...
In this paper a new time-stepping method for simulating systems of rigid bodies is given. Unlike methods which take an instantaneous point of view, our method is based on impulse-m...
This paper considers grasps and fixtures whose contacts react according to force-displacement laws consistent with friction constrains at the contacts. The passive force closure s...