An Evaluation of Methods for Modeling Contact in Multibody Simulation Conference Paper

abstract

• Modeling contact in multibody simulation is a difficult problem frequently characterized by numerically brittle algorithms, long running times, and inaccurate (with respect to theory) models. We present a comprehensive evaluation of four methods for contact modeling on seven benchmark scenarios in order to quantify the performance of these methods with respect to robustness and speed. We also assess the accuracy of these methods where possible. We conclude the paper with a prescriptive description in order to guide the user of multibody simulation. 2011 IEEE.

name of conference

• 2011 IEEE International Conference on Robotics and Automation

authors

• Shell, Dylan

published proceedings

• 2011 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA)

author list (cited authors)

• Drumwright, E., & Shell, D. A.

citation count

• 16

complete list of authors

• Drumwright, Evan||Shell, Dylan A

publication date

• May 2011

publisher

• Institute of Electrical and Electronics Engineers (IEEE)  Publisher

published in

• IEEE International Conference on Robotics and Automation  Journal

keywords

• Bioengineering

Digital Object Identifier (DOI)

• 10.1109/icra.2011.5980402

International Standard Book Number (ISBN) 13

• 9781612843865

start page

• 1695

end page

• 1701

URL

• http://dx.doi.org/10.1109/icra.2011.5980402