Linear Complementarity Problem Simulation of The Meter Stick Trick

In this paper, we focus on naturally incorporating contact modes estimation in a dynamical simulation of an object with multiple contacts. More specifically, this paper presents an algorithm to simulate a meter stick trick using a Linear Complementarity Problem (LCP) formulation. A meter stick, modeled as a planar uniform horizontal rod in gravity, is supported by two point contacts or ”fingers”. We developed a LCP-based algorithm to simulate motion of the meter stick when one finger moves toward the other at a fixed speed. The simulation matches observations of physical meter stick trick experiments. Overall, this paper shows that a LCP-based algorithm is a robust option to naturally capture the switching contact modes in a dynamical simulation of an object with multiple contacts.