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    ICRA
    2005
    IEEE
    90views Robotics» more  ICRA 2005»
    Dynamic Ambiguities in Frictional Rigid-body Systems with Application to Climbing via Bracing
    14 years 5 months ago
    Dynamic Ambiguities in Frictional Rigid-body Systems with Application to Climbing via Bracing
    Download  www.cs.cmu.edu
    Abstract— Constructing climbing behaviors for hyperredundant robots that account for the system dynamics requires a model of robot dynamics under contact and friction. One common...
    Aaron Greenfield, Alfred A. Rizzi, Howie Choset
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    SAC
    2009
    ACM
    92views Applied Computing» more  SAC 2009»
    A robust and tractable contact model for dynamic robotic simulation
    14 years 6 months ago
    A robust and tractable contact model for dynamic robotic simulation
    Download  www.cs.memphis.edu
    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...
    Evan Drumwright, Dylan A. Shell
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