Extensive Analysis of Linear Complementarity Problem (LCP) Solver Performance on Randomly Generated Rigid Body Contact Problems Conference Paper

abstract

• The Linear Complementarity Problem (LCP) is a key problem in robot dynamics, optimization, and simulation. Common experience with dynamic robotic simulations suggests that the numerical robustness of the LCP solver often determines simulation usability: if the solver fails to find a solution or finds a solution with significant residual error, interpenetration can result, the simulation can gain energy, or both. This paper undertakes the first comprehensive evaluation of LCP solvers across the space of multi-rigid body contact problems. We evaluate the performance of these solvers along the dimensions of solubility, solution quality, and running time. 2012 IEEE.

name of conference

• 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems

authors

• Shell, Dylan

published proceedings

• 2012 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS)

author list (cited authors)

• Drumwright, E., & Shell, D. A.

citation count

• 17

complete list of authors

• Drumwright, Evan||Shell, Dylan A

publication date

• October 2012

publisher

• Institute of Electrical and Electronics Engineers (IEEE)  Publisher

published in

• Proceedings of the ... IEEE/RSJ International Conference on Intelligent Robots and Systems. IEEE/RSJ International Conference on Intelligent Robots and Systems  Journal

Digital Object Identifier (DOI)

• 10.1109/iros.2012.6385974

International Standard Book Number (ISBN) 13

• 9781467317375

start page

• 5034

end page

• 5039

volume

• 1

URL

• http://dx.doi.org/10.1109/iros.2012.6385974