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TOG
2010
124views more  TOG 2010»
13 years 6 months ago
Piles of objects
We present a method for directly modeling piles of objects in multibody simulations. Piles of objects represent some of the more interesting, but also most time-consuming portion ...
Shu-Wei Hsu, John Keyser
JNS
2011
77views more  JNS 2011»
13 years 6 months ago
Nonlinear Dynamics of the 3D Pendulum
A 3D pendulum consists of a rigid body, supported at a fixed pivot, with three rotational degrees of freedom. The pendulum is acted on by a gravitational force. Symmetry assumptio...
Nalin A. Chaturvedi, Taeyoung Lee, Melvin Leok, N....
ICRA
2010
IEEE
179views Robotics» more  ICRA 2010»
13 years 10 months ago
Accelerometer-based tilt estimation of a rigid body with only rotational degrees of freedom
Abstract— An estimation algorithm is developed for determining pitch and roll angles (tilt) of a rigid body fixed at a pivot using multiple accelerometers. The estimate is globa...
Sebastian Trimpe, Raffaello D'Andrea
TROB
2002
106views more  TROB 2002»
13 years 11 months ago
Visual servoing of an under-actuated dynamic rigid-body system: an image-based approach
Abstract--A new image-based control strategy for visual servoing of a class of under-actuated rigid body systems is presented. The proposed control design applies to "eye-in-h...
Tarek Hamel, Robert E. Mahony
AUTOMATICA
2004
94views more  AUTOMATICA 2004»
13 years 11 months ago
Drift-free attitude estimation for accelerated rigid bodies
In this paper we study the attitude estimation problem for an accelerated rigid body using gyros and accelerometers. The application in mind is that of a walking robot and particu...
Henrik Rehbinder, Xiaoming Hu
ICRA
1998
IEEE
100views Robotics» more  ICRA 1998»
14 years 3 months ago
Two Methods for Interpolating Rigid Body Motions
This paper investigates methods for computing a smooth motion that interpolates a given set of positions and orientations of a rigid body. To make the interpolation independent of...
Milos Zefran, Vijay Kumar
SIGGRAPH
2000
ACM
14 years 3 months ago
Timewarp rigid body simulation
The traditional high-level algorithms for rigid body simulation work well for moderate numbers of bodies but scale poorly to systems of hundreds or more moving, interacting bodies...
Brian Mirtich
CDC
2009
IEEE
176views Control Systems» more  CDC 2009»
14 years 4 months ago
Dynamics of a 3D elastic string pendulum
— This paper presents an analytical model and a geometric numerical integrator for a rigid body connected to an elastic string, acting under a gravitational potential. Since the ...
Taeyoung Lee, Melvin Leok, N. Harris McClamroch
CDC
2009
IEEE
111views Control Systems» more  CDC 2009»
14 years 4 months ago
Geometric control of particle manipulation in a two-dimensional fluid
— Manipulation of particles suspended in fluids is crucial for many applications, such as precision machining, chemical processes, bio-engineering, and self-feeding of microorga...
Yizhar Or, Joris Vankerschaver, Scott D. Kelly, Ri...
ICRA
2009
IEEE
81views Robotics» more  ICRA 2009»
14 years 6 months ago
Representing sets of orientations as convex cones
— In a wide range of applications the orientation of a rigid body does not need to be restricted to one given orientation, but can be given as a continuous set of frames. We addr...
Pål Johan From, Jan Tommy Gravdahl