We show that in any $C^\infty$-rigid Carnot group the sense of Ottazzi - Warhurst, $C^1$-contact maps are automatically smooth.

The contribution of this paper is the expansion of the range of possibilities in the analysis, planning, and control of contact tasks. The successful execution of any contact task fundamentally requires the application of wrenches (forces and moments) consistent with the task. We develop an algorithm for computing the entire set of external wrenches consistent with achieving a given augmented c...

In this paper, Baraff presents an algorithm for computing the contact forces between objects with static and dynamic friction. Unlike previous methods used to solve the problem where the problem was transformed into an optimization problem, Baraff's algorithm can be implemented by programmers with little experience in numerical programming. Further, his approach is faster and more reliable than...

Rigid body dynamics with contact constraints can be solved locally using linear complementarity techniques. However, these techniques do not impose the original constraints and need stabilization. In this paper we show how constraint stabilization can also be done in a complementarity framework. Our technique effectively eliminates the drift problem for both equality and inequality constraints ...

This paper addresses the identifiability of the inertial parameters and the contact forces associated with an object making and breaking frictional contact with the environment. Our goal is to explore under what conditions, and to what degree, the observation of physical interaction, in the form of motions and/or forces, is indicative of the underlying dynamics that governs it. In this initial ...

The contribution of this paper is the expansion of the range of possibilities in the analysis, planning, and control of contact tasks. The successful execution of any contact task fundamentally requires the application of wrenches (forces and moments) consistent with the task. We develop an algorithm for computing the entire set of external wrenches consistent with achieving a given augmented c...

Effective modeling and control of multibody systems interacting with their environment through frictional contact remains a challenging problem. In this paper, we address the planar version of this problem by developing a general method to compute the instantaneous dynamic solution for planar rigid bodies interacting with their environment through Coulomb frictional contacts. The resulting anal...

Abstract-We analyze a three-dimensional frictional contact problem between a homogeneous and isotropic linear elastic body and a substrate consisting of a homogeneous and isotropic linear elastic half-space coated with a transversely isotropic elastic layer. The problem formulation includes the kinematics of the body, including its rolling/sliding on the substrate. Expressions relating the disp...

A simulation model and a rigid body model are used to investigate twisting initiated during the take-off or contact phase. It is shown that it is possible to produce a full twist solely by building up angular momentum in the arms during the contact phase. This method is only half as effective as building up momentum in the whole body during contact. The introduction of twist into a somersault c...