Contact dynamics

Literature survey of contact dynamics modelling

Gabriele Gilardi, Inna Sharf

Citations: 719 • 2002

Rigid-Body Dynamics with Friction and Impact

David E. Stewart

Citations: 622 • 2000

A direct method for trajectory optimization of rigid bodies through contact

Michael Posa, Cecilia Cantu, Russ Tedrake

Citations: 608 • 2013

Dynamic Balance Force Control for compliant humanoid robots

Benjamin Stephens, C.G. Atkeson

Citations: 264 • 2010

Contact Stiffness and Damping Estimation for Robotic Systems

David Erickson, M. Weber, Inna Sharf

Citations: 188 • 2003

Force Control

Luigi Villani, Joris De Schutter

Citations: 152 • 2008

ADD

Moritz Geilinger, David Hahn, Jonas Zehnder, Moritz Bächer, Bernhard Thomaszewski, Stelian Coros

Citations: 144 • 2020

Modelling and control of a flying robot interacting with the environment

Lorenzo Marconi, Roberto Naldi, Luca Gentili

Citations: 104 • 2011

Constraint-based dynamics simulator for humanoid robots with shock absorbing mechanisms

Shin’ichiro Nakaoka, Shizuko Hattori, Fumio Kanehiro, Shuuji Kajita, Hirohisa Hirukawa

Citations: 83 • 2007

Fast Contact-Implicit Model Predictive Control

Simon Le Cleac’h, Taylor A. Howell, Shuo Yang, Chi-Yen Lee, John Z. Zhang, Arun L. Bishop, Mac Schwager, Zachary Manchester

Citations: 81 • 2024

Force Control

Luigi Villani, Joris De Schutter

Citations: 78 • 2016

Contact dynamics and control of a space robot capturing a tumbling object

Shuang Wu, Fangli Mou, Qian Liu, Jing Cheng

Citations: 74 • 2018

Dynamics-aware numerical coarsening for fabrication design

Desai Chen, David I. W. Levin, Wojciech Matusik, Danny M. Kaufman

Citations: 70 • 2017

Impedance-based contact control of a free-flying space robot with a compliant wrist for non-cooperative satellite capture

Naohiro Uyama, Hiroki Nakanishi, Kenji Nagaoka, Kazuya Yoshida

Citations: 67 • 2012

Robotic Manipulator Collisions: Modeling and Simulation

James K. Mills, Cynthia Nguyen

Citations: 62 • 1992

Dynamic Motion Planning for Robots in Partially Unknown Environments

Sami Haddadin, Rico Belder, Alin Albu‐Schäffer

Citations: 56 • 2011

Dynamics of contact tasks in robotics. Part I: general model of robot interacting with environment

Miomir Vukobratović, Veljko Potkonjak

Citations: 52 • 1999

Compliant contact versus rigid contact: A comparison in the context of granular dynamics

Arman Pazouki, Michael Kwarta, Kyle Williams, William J. Likos, Radu Serban, Paramsothy Jayakumar, Dan Negruţ

Citations: 51 • 2017

LIMITATIONS OF HARDWARE-IN-THE-LOOP SIMULATIONS OF SPACE ROBOTICS DYNAMICS USING INDUSTRIAL ROBOTS

Rainer Krenn, Bernd Schäfer

Citations: 50 • 1999

Implementation of multi-rigid-body dynamics within a robotic grasping simulator

Andrew Miller, Henrik I. Christensen

Citations: 46 • 2004