Parameter and contact force estimation of planar rigid-bodies undergoing frictional contact
نویسندگان
چکیده
منابع مشابه
6D frictional contact for rigid bodies
We present a new approach to modeling contact between rigid objects that augments an individual Coulomb friction point-contact model with rolling and spinning friction constraints. Starting from the intersection volume, we compute a contact normal from the volume gradient. We compute a contact position from the first moment of the intersection volume, and approximate the extent of the contact p...
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ژورنال
عنوان ژورنال: The International Journal of Robotics Research
سال: 2017
ISSN: 0278-3649,1741-3176
DOI: 10.1177/0278364917698749