ICRA
2000
IEEE
14 years 3 months ago
2000
IEEE
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...
ICRA
2008
IEEE
14 years 6 months ago
2008
IEEE
— Forbidden-Region Virtual Fixtures (FRVFs) are traditionally imposed on users via proportional-derivative (PD) control. To reduce user penetration into the forbidden region, thi...