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Summary: Zeitschrift f¨ur Angewandte Mathematik und Mechanik, 4 July 2010
Hybrid Complementarity Formulations for Robotics Applications
Kishor D. Bhalerao1
, Cory Crean1
, and Kurt Anderson1
1
Mechanical, Nuclear and Aerospace Engineering, Rensselaer Polytechnic Institute, USA.
Received XXXX, revised XXXX, accepted XXXX
Published online XXXX
Key words complementarity methods, recursive dynamics, intermittent contact.
MSC (2000) 04A25
The focus of this paper is to review hybrid recursive-complementarity formulations for multibody systems characterized
by a large number of bilateral constraints which are frequently encountered in robotics. Here, hybrid implies the use of
complementarity contact models with recursive forward dynamics schemes. Such formulations have a common underlying
structure which can be applied to multibody systems with a constrained tree-type topology. These common steps are
pointed out. Theoretical formulation is given for systems using three important classes (O(n3
), O(n) and O(log(n)))
of multibody algorithms. Further, numerical comparison for the efficiency is given for rigid multibody systems. The
paper makes recommendations on the choice of hybrid complementarity formulations which would result in the most
efficient simulation. The paper further gives a non-iterative approach to allow the use of explicit higher order integrators
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