TOG
2010
13 years 5 months ago
2010
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 ...
JNS
2011
13 years 5 months ago
2011
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...
ICRA
2010
IEEE
13 years 9 months ago
2010
IEEE
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...
TROB
2002
13 years 10 months ago
2002
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...
AUTOMATICA
2004
13 years 10 months ago
2004
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...
ICRA
1998
IEEE
14 years 3 months ago
1998
IEEE
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...
SIGGRAPH
2000
ACM
14 years 3 months ago
2000
ACM
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...
CDC
2009
IEEE
14 years 3 months ago
2009
IEEE
— 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 ...
CDC
2009
IEEE
14 years 3 months ago
2009
IEEE
— Manipulation of particles suspended in fluids is crucial for many applications, such as precision machining, chemical processes, bio-engineering, and self-feeding of microorga...
ICRA
2009
IEEE
14 years 5 months ago
2009
IEEE
— 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...