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Robotics Research pp 271–287Cite as

A Framework for Real-Time Multi-Contact Multi-Body Dynamic Simulation

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Part of the book series: Springer Tracts in Advanced Robotics ((STAR,volume 114))

Abstract

In this paper we propose a unified framework for the real-time dynamic simulation and contact resolution of rigid articulated bodies. This work builds on previous developments in the field of dynamic simulation, collision detection, contact resolution, and operational space control. However, the key to efficiency and real-time performance is a new parallel implementation of our collision detection and contact resolution algorithm which decomposes the problem into tasks that can be concurrently executed. Finally, the results and accuracy of our simulation models are compared for the first time against recorded motions of real articulated bodies colliding on a frictionless air floating table.

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Authors and Affiliations

  1. Artificial Intelligence Laboratory, Stanford University, Stanford, CA, 94305, USA

    François Conti & Oussama Khatib

Authors
  1. François Conti
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  2. Oussama Khatib
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Correspondence to François Conti .

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Editors and Affiliations

  1. Creative Informatics, The University of Tokyo, Tokyo, Japan

    Masayuki Inaba

  2. School of Electrical Engineering and Com, Queensland Univ of Technology, Brisbane, Queensland, Australia

    Peter Corke

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Conti, F., Khatib, O. (2016). A Framework for Real-Time Multi-Contact Multi-Body Dynamic Simulation. In: Inaba, M., Corke, P. (eds) Robotics Research. Springer Tracts in Advanced Robotics, vol 114. Springer, Cham. https://doi.org/10.1007/978-3-319-28872-7_16

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  • DOI: https://doi.org/10.1007/978-3-319-28872-7_16

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-28870-3

  • Online ISBN: 978-3-319-28872-7

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