Title :
Contact modes and complementary cones
Author :
Berard, S. ; Egan, K. ; Trinkle, J.C.
Author_Institution :
Rensselaer Polytechnic Institute
fDate :
April 26 2004-May 1 2004
Abstract :
In this paper, we use a linear complementarity problem (LCP) formulation of rigid body dynamics with unilateral contacts to obtain definitions for contact modes. We show how the complementary cones of the LCP correspond to each of the intuitive contact modes: slide right, slide left, roll and separate. These complementary cones allow us to make rigorous definitions for contact modes in three-dimensional systems, where our intuitive understanding fails.
Keywords :
Acceleration; Computer science; Differential equations; Jacobian matrices; Kinematics; Mathematical model; Robots;
Conference_Titel :
Robotics and Automation, 2004. Proceedings. ICRA '04. 2004 IEEE International Conference on
Conference_Location :
New Orleans, LA, USA
Print_ISBN :
0-7803-8232-3
DOI :
10.1109/ROBOT.2004.1302556
