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Modeling non-convex configuration space using linear complementarity problems

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2 Author(s)
Binh Nguyen ; Computer Science Department, Rensselaer Polytechnic Institute, Troy, NY, USA ; Jeff Trinkle

In this paper, we proposed a new physical simulation method that can model non-convex configuration space. The new method employs a novel contact model that take into account geometry information of objects. It can also be shown that it reduces the work for collision detection routines.

Published in:

Robotics and Automation (ICRA), 2010 IEEE International Conference on

Date of Conference:

3-7 May 2010