티스토리 뷰
D. E. Stewart and J. C. Trinkle, “An implicit time-stepping scheme for rigid body dynamics with inelastic collisions and coulomb friction,” Int. J. Numer. Meth. Eng., vol. 39, no. 15, pp. 2673–2691, Aug. 1996.
E. Todorov, “A convex, smooth and invertible contact model for trajectory optimization,” in 2011 IEEE Int. Conf. Robotics and Automation, 2011, pp. 1071–1076.
Baraff, David. "Fast contact force computation for nonpenetrating rigid bodies." Proceedings of the 21st annual conference on Computer graphics and interactive techniques. 1994.
참고 github
https://github.com/erwincoumans/contact_models?tab=readme-ov-file
'미니멀공대생 > Control' 카테고리의 다른 글
| MuJoCo :: SDF와 자세한 Collision mesh 만들기 (2) | 2024.10.20 |
|---|---|
| Linear Complementarity Problem을 이용한 접촉 모델(Contact Model)(2) :: 접촉 시뮬레이션 (0) | 2024.09.20 |
| Linear Complementarity Problem을 이용한 접촉 모델(Contact Model)(1) (2) | 2024.09.12 |
| Homotopy path planning(호모토피 경로 계획) (0) | 2024.09.07 |
| [논문리뷰] Fast Model Predictive Control with Soft Constraints (3) | 2024.08.09 |
댓글