True Rigidity: Interpenetration-free Multi-Body Simulation with Polytopic Contact
EM Drumwright - arXiv preprint arXiv:1608.02171, 2016 - arxiv.org
An effective paradigm for simulating the dynamics of robots that locomote and manipulate is
multi-rigid body simulation with rigid contact. This paradigm provides reasonable tradeoffs …
multi-rigid body simulation with rigid contact. This paradigm provides reasonable tradeoffs …