3 accepted papers
Consider how a new robot is designed. Starting from a relative size (e.g., nanometer, centimeter, meter), the roboticist picks a morphological type (manipulator, quadruped, biped), and then uses intuition, experience, biological inspiration, or some combination of the three to select kinematic, dyna…
In this paper we demonstrate the limitations of common rigid-body contact models used in the robotics community by comparing them to a collection of data-driven and data-reinforced models that exploit underlying structure inspired by the rigid contact paradigm. We evaluate and compare the analytical
Most current approaches for simulating robots in 3D with rigid body dynamics and contact operate by taking fixed, first order integration steps. In this paper, we investigate the viability of various integration approaches (semi implicit and fully explicit first-order, fourth order Runge Kutta, and…