Robotics: Science and Systems VIII

Minimal Coordinate Formulation of Contact Dynamics in Operational Space

Abhinandan Jain, Cory Crean, Calvin Kuo, Hubertus Von Bremen, Steven Myint

Abstract:

In recent years, complementarity techniques have been developed for modeling non-smooth contact and collision dynamics problems for multi-link robotic systems. In this approach, a linear complementarity problem (LCP) is set up using 6n non-minimal coordinates for a system with n links together with all the unilateral constraints and inter-link bilateral constraints on the system. In this paper, we use operational space dynamics to develop a complementarity formulation for contact and collision dynamics that uses minimal coordinates. The use of such non-redundant coordinates results in much smaller size LCP problems and the automatic enforcement of the inter-link bilateral constraints. Furthermore, we exploit operational space low-order algorithms to overcome some of the computational bottlenecks in using minimal coordinates.

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Bibtex:

  
@INPROCEEDINGS{Jain-RSS-12, 
    AUTHOR    = {Abhinandan Jain AND Cory Crean AND Calvin Kuo AND Hubertus Von Bremen AND Steven Myint}, 
    TITLE     = {Minimal Coordinate Formulation of Contact Dynamics in Operational Space}, 
    BOOKTITLE = {Proceedings of Robotics: Science and Systems}, 
    YEAR      = {2012}, 
    ADDRESS   = {Sydney, Australia}, 
    MONTH     = {July},
    DOI       = {10.15607/RSS.2012.VIII.020} 
}