Nonconvex rigid bodies with stacking
نویسندگان
چکیده
منابع مشابه
Rigid multibody system dynamics with uncertain rigid bodies
This paper is devoted to the construction of a probabilistic model of uncertain rigid bodies for multibody system dynamics. We first construct a stochastic model of an uncertain rigid body by replacing the mass, the center of mass and the tensor of inertia by random variables. The prior probability distributions of the stochastic model are constructed using the maximum entropy principle under t...
متن کاملSimulating hard rigid bodies
Several physical systems in condensed matter have been modeled approximating their constituent particles as hard objects. The hard spheres model has been indeed one of the cornerstones of the computational and theoretical description in condensed matter. The next level of description is to consider particles as rigid objects of generic shape, which would enrich the possible phenomenology enormo...
متن کاملLangevin Rigid: Animating Immersed Rigid Bodies in Real-time
We present the Langevin rigid approach, a technique for animating the dynamics of immersed rigid bodies in viscous incompressible fluid in real-time. We use generalized Kirchhoff equations to ensure forces and torques from the surrounding fluid that create realistic motion of immersed rigid bodies. We call our method the Langevin rigid approach because the generalized Langevin equations are app...
متن کاملOptimal Trajectories for Planar Rigid Bodies with Switching Costs
The optimal trajectory with respect to some metric may require very many switches between controls, or even infinitely many, a phenomenon called chattering; this can be problematic for existing motion planning algorithms that plan using a finite set of motion primitives. One remedy is to add some penalty for switching between controls. This paper explores the implications of this switching cost...
متن کاملOptimal trajectories for kinematic planar rigid bodies with switching costs
The optimal trajectory with respect to some metric for a system with a discrete set of controls may require very many switches between controls, or even infinitely many, a phenomenon called chattering; this can be problematic for existing motion planning algorithms that plan using a finite set of motion primitives. One remedy is to add some penalty for switching between controls. This paper exp...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
ژورنال
عنوان ژورنال: ACM Transactions on Graphics
سال: 2003
ISSN: 0730-0301,1557-7368
DOI: 10.1145/882262.882358