We describe a new physics engine tailored to model-based control. Multi-joint dynamics are
represented in generalized coordinates and computed via recursive algorithms. Contact …

We present a unified treatment for modeling Coulomb and viscous friction within multi-rigid
body simulation using the principle of maximum dissipation. This principle is used to build …

This paper addresses the identification of the inertial parameters and the contact forces
associated with objects making and breaking frictional contact with the environment. Our …

Modeling contact in multibody simulation is a difficult problem frequently characterized by
numerically brittle algorithms, long running times, and inaccurate (with respect to theory) …

Abstract The DARPA Virtual Robotics Challenge (VRC)[1] was a cloud-based robotic
simulation competition. Teams competed by writing control software for a humanoid robot to …

The Linear Complementarity Problem (LCP) is a key problem in robot dynamics,
optimization, and simulation. Common experience with dynamic robotic simulations …

Rigid body simulation libraries are sophisticated software systems that include multiple,
tricky to implement numerical algorithms: solving initial value problems, root finding …

In this paper, nonsmooth contact dynamics of articulated rigid multibody systems is
formulated as a complementarity problem. Minimal coordinate (MC) formulation is used to …

We present a differential-algebraic formulation with switching constraints to model the
nonsmooth dynamics of robotic systems subject to changing constraints and multiple …

In this article, the non-smooth contact dynamics of multi-body systems is formulated as a
complementarity problem. Minimal coordinates operational space formulation is used to …