ICRA 2011 Paper Abstract


Paper TuP1-InteracInterac.9

Drumwright, Evan (George Washington University), Shell, Dylan (Texas A&M University)

An Evaluation of Methods for Modeling Contact in Multibody Simulation

Scheduled for presentation during the Poster Sessions "Interactive Session II: Systems, Control and Automation" (TuP1-InteracInterac), Tuesday, May 10, 2011, 13:40−14:55, Hall

2011 IEEE International Conference on Robotics and Automation, May 9-13, 2011, Shanghai International Conference Center, Shanghai, China

This information is tentative and subject to change. Compiled on March 30, 2020

Keywords Animation and Simulation


Modeling contact in multibody simulation is a difficult problem frequently characterized by numerically brittle solutions, long running times, and inaccurate (with respect to theory) models. We present a comprehensive evaluation of four methods for contact modeling on seven benchmark scenarios in order to quantify the performance of these methods with respect to robustness and speed. We also assess the accuracy of these methods where possible. We conclude the paper with a prescriptive description in order to guide the user of multibody simulation.



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