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Contact modes and complementary cones
Berard, S. Egan, K. Trinkle, J.C.
Dept. of Comput. Sci., Rensselaer Polytech. Inst., Troy, NY, USA;

This paper appears in: Robotics and Automation, 2004. Proceedings. ICRA '04. 2004 IEEE International Conference on
Publication Date: 26 April-1 May 2004
Volume: 5, On page(s): 5280- 5286 Vol.5
ISSN: 1050-4729
ISBN: 0-7803-8232-3
INSPEC Accession Number: 9108492
Digital Object Identifier: 10.1109/ROBOT.2004.1302556
Current Version Published: 2004-06-07

Abstract
In this paper, we use a linear complementarity problem (LCP) formulation of rigid body dynamics with unilateral contacts to obtain definitions for contact modes. We show how the complementary cones of the LCP correspond to each of the intuitive contact modes: slide right, slide left, roll and separate. These complementary cones allow us to make rigorous definitions for contact modes in three-dimensional systems, where our intuitive understanding fails.

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