CollisionContact Models for the Dynamic Simulation of Complex Environments.pdfVIP

CollisionContact Mo dels for the Dynamic Simulation of Complex Environments Diego C Ruspini and Oussama Khatib Rob otics Lab oratory Computer Science Department Stanford University Stanford CA Abstract strated that it can accurately mo del the macroscopic In this p aper we examine the constraint equations de b ehavior of the physical system In addition Impulse veloped for two general dynamic simulation systems takes into account the eect of friction during impact fr om a new p erspective A contact space fr amework which is not considered in similar to the operational space fr amework used for Both of these systems were originally develop ed for robotic control is developed which al lows the constraint simulating the motion of simple rigid b o dies While equations for contact and col lision to be easily speci Impulse has b een extended to supp ort generalized ar e d This fr amework also al lows us to scrutinize the ticulated b o dies the constraint equations are still multiple relations that exist between the dynamic mod fundamentally based on the equations of motion for els used in simulation and the models original ly de simple unarticulated rigid b o dy systems In the re veloped for robotic control and analysis This fr ame sulting equations most the underlying meaning of the work has been used to develop a simulator that can constraints is no longer discernible model complex interaction between generalized articu lated mechanical systems at interactive rates Intro duction In recent years there have b een many eorts to accu rately simulate physical enviro