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Hybrid complementarity formulations for robotics applications
Author(s) -
Bhalerao K.D.,
Crean C.,
Anderson K.
Publication year - 2011
Publication title -
zamm ‐ journal of applied mathematics and mechanics / zeitschrift für angewandte mathematik und mechanik
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.449
H-Index - 51
eISSN - 1521-4001
pISSN - 0044-2267
DOI - 10.1002/zamm.201000093
Subject(s) - complementarity (molecular biology) , robotics , multibody system , computer science , hybrid system , mathematical optimization , integrator , mathematics , artificial intelligence , topology (electrical circuits) , robot , machine learning , genetics , physics , quantum mechanics , combinatorics , biology , computer network , bandwidth (computing)
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(n 3 ), 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 for frictionless contacts. The difficulties in extending this approach to allow for frictional contact are also discussed.