Abstract We present a principled method for motion prediction via dynamic simulation rigid bodies in intermittent contact with each other where the region is planar non-convex patch. Such methods are useful planning and controlling robotic manipulation. The patch can either be topologically connected set or disconnected set. Most works body assume that between objects point contact, which may n...

We present a rigid-body simulation for multi-contact haptic interaction. The simulation is designed to make use of modern multiprocessor machines and the framework for this is discussed. An existing haptic rendering algorithm is extended to: facilitate simple implementation on a number of object types, enable the use of arbitrary objects as haptic cursors and allow multiple object contacts on t...

This paper presents a pattern recognition approach to identifying contact formations from force sensor signals. The approach is sensor-based and does not use geometric models of the workpieces. The design of a fuzzy classiier is described, where membership functions are generated automatically from training data. The technique is demonstrated using supervised learning. Test results are included...

An ideal I on a cardinal κ is called rigid if all automorphisms of P (κ)/I are trivial. An ideal is called μ-minimal if whenever G ⊆ P (κ)/I is generic and X ∈ P (μ)V [G] \ V , it follows that V [X] = V [G]. We prove that the existence of a rigid saturated μ-minimal ideal on μ+, where μ is a regular cardinal, is consistent relative to the existence of large cardinals. The existence of such an i...

The article describes the construction of a solution for problem interaction viscoelastic aging pipe with an internal thin elastic coating and several different rigid cylindrical inserts, assuming that profiles contacting surfaces are described by rapidly changing functions. method used makes it possible to construct takes into account both rheological properties complex bodies. Using this meth...

The task of handling non-rigid one-dimensional objects by a robot manipulation system is investigated. To distinguish between different non-rigid object behaviors, five classes of deformable objects from a robotic point of view are proposed. Additionally, an enumeration of all possible contact states of one-dimensional objects with polyhedral obstacles is provided. Finally, the qualitative moti...

Using impulses for rigid body simulation is rapidly becoming a standard method for realtime simulations. This paper discusses how impulses can be used for modeling both collision and contact between rigid bodies when using the coulomb friction model. Time stepping techniques are also discussed including an example method optimized specifically for handling large numbers of simultaneous collisio...