ICRA
2010
IEEE
13 years 11 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...
ICRA
2010
IEEE
13 years 11 months ago
2010
IEEE
— In recent years, learning models from data has become an increasingly interesting tool for robotics, as it allows straightforward and accurate model approximation. However, in ...
WSCG
2001
14 years 1 months ago
2001
This paper demonstrates that techniques in flexible body dynamics can yield surprising results when applied to rigid bodies. The discussion presents a technique for constructing r...
CDC
2009
IEEE
14 years 5 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 ...
ICRA
2003
IEEE
14 years 5 months ago
2003
IEEE
— Rigid body dynamics with contact constraints can be solved locally using linear complementarity techniques. However, these techniques do not impose the original constraints and...
ROBOCUP
2005
Springer
14 years 6 months ago
2005
Springer
This paper describes SimRobot, a robot simulator which is able to simulate arbitrary user-defined robots in three-dimensional space. It includes a physical model which is based on...
HAPTICS
2005
IEEE
14 years 6 months ago
2005
IEEE
In this paper we present a novel approach for simulating the rigid body dynamics of a haptically manipulated object using implicit integration. Our formulation requires the linear...