By Topic

Toward development of a generalized contact algorithm for polyhedral objects

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$33 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

4 Author(s)
C. A. Tenaglia ; Dept. of Electr. Eng., Ohio State Univ., Columbus, OH, USA ; D. E. Orin ; R. A. LaFarge ; C. Lewis

Presents a contact model for polyhedral objects. For a given geometrical description, body state, and viscoelastic properties it is possible to compute the contact wrench between polyhedral bodies of arbitrary shape and complexity. The C-Space Toolkit geometry engine is used to determine interpenetration distances of the multiple points in contact between the bodies. Kinematic equations describing motion of the multiple points of contact are developed. A compliant contact force model is developed which models both impact and sustained contact, as well as elastic effects such as wedging and jamming. As objects rotate relative to one another, rolling effects are included as well. Forces along the surface at the contact model microslip as well as sliding conditions. Results are obtained for the example of a torus jammed on a cone

Published in:

Robotics and Automation, 1999. Proceedings. 1999 IEEE International Conference on  (Volume:4 )

Date of Conference: