Implicit Contact Dynamics Modeling With Explicit Inertia Matrix Representation for Real-Time, Model-Based Control in Physical Environment

DOI10.1162/NECO_A_01465zbMATH Open1483.93146OpenAlexW4200612414MaRDI QIDQ5037152FDOQ5037152

Authors: Takeshi Itoh, Koji Ishihara, Jun Morimoto 

Publication date: 25 February 2022

Published in: Neural Computation (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1162/neco_a_01465

Recommendations

• Implicit force control for industrial robots in contact with stiff surfaces
• scientific article; zbMATH DE number 2114907
• Modeling intermittent contact for flexible multibody systems
• Contact force models for multibody dynamics
• Implementation of effective procedures for unilateral contact modeling in multibody dynamics.
• Implicit Constraint Enforcement for Rigid Body Dynamic Simulation
• The Role of Environment Dynamics in Contact Force Control of Manipulation Robots
• Model reference adaptive impedance control for physical human-robot interaction
• A linearly implicit trapezoidal method for integrating stiff multibody dynamics with contact, joints, and friction

Mathematics Subject Classification ID

Learning and adaptive systems in artificial intelligence (68T05) Automated systems (robots, etc.) in control theory (93C85) Model predictive control (93B45)

Cited In (2)

• A physics-based and data-driven hybrid modeling method for accurately simulating complex contact phenomenon
• Matrix formalism used to describe the inertial properties in multibody dynamics

Uses Software

• Chainer
• PILCO

This page was built for publication: Implicit Contact Dynamics Modeling With Explicit Inertia Matrix Representation for Real-Time, Model-Based Control in Physical Environment

Report a bug (only for logged in users!)Click here to report a bug for this page (MaRDI item Q5037152)