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Modeling Contact Friction and Joint Friction in Dynamic Robotic Simulation Using the Principle of Maximum Dissipation

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Algorithmic Foundations of Robotics IX

Part of the book series: Springer Tracts in Advanced Robotics ((STAR,volume 68))

Abstract

We present a unified treatment for modeling Coulomb and viscous friction within multi-rigid body simulation using the principle of maximum dissipation. This principle is used to build two different methods—an event-driven impulse-based method and a time stepping method—for modeling contact. The same principle is used to effect joint friction in articulated mechanisms. Experiments show that the contact models are able to be solved faster and more robustly than alternative models. Experiments on the joint friction model show that it is as accurate as a standard model while permitting much larger simulation step sizes to be employed.

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Author information

Authors and Affiliations

  1. George Washington University,  

    Evan Drumwright

  2. Texas A&M University,  

    Dylan A. Shell

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  1. Evan Drumwright
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  2. Dylan A. Shell
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Editors and Affiliations

  1. School of Computing, National University of Singapore, 13 Computing Drive, 117417, Singapore

    David Hsu

  2. Department of Computer Science, University of Minnesota, 200 Union Street SE, 55455, Minneapolis, MN, USA

    Volkan Isler

  3. Computer Science Department, Stanford University, 94305-9010, Stanford, CA, USA

    Jean-Claude Latombe

  4. Department of Computer Science, University of North Carolina, Chapel Hill, 254 Brooks Building, 27599, Chapel Hill, NC, USA

    Ming C. Lin

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Drumwright, E., Shell, D.A. (2010). Modeling Contact Friction and Joint Friction in Dynamic Robotic Simulation Using the Principle of Maximum Dissipation. In: Hsu, D., Isler, V., Latombe, JC., Lin, M.C. (eds) Algorithmic Foundations of Robotics IX. Springer Tracts in Advanced Robotics, vol 68. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-17452-0_15

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  • DOI: https://doi.org/10.1007/978-3-642-17452-0_15

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-642-17451-3

  • Online ISBN: 978-3-642-17452-0

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