A Convex Quasistatic Time-stepping Scheme for Rigid Multibody Systems with Contact and Friction
Tao Pang Russ Tedrake Tao Pang Russ Tedrake
Motion planning for robotic manipulation makes heavy use of quasistatic models, but these same models have not yet proven useful for simulation. This is because in many multi-contact situations, the quasistatic models do not describe a unique next state for the system. A planner is able to use these models optimistically (checking only for feasibility of a motion), but simulation requires more.In ...