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Description
We present a new time-integrator for modeling the frictional dynamics of articulated bodies. Our formulation represents the configuration of the articulated body using position variables and then uses those variables to model the friction forces between the articulated body and the environment. Our approach corresponds to a Newton-type optimization scheme that is guaranteed to converge so that it is stable with large timestep sizes. We evaluate the accuracy and stability of our time-integrator by comparing it with a conventional formulations based on the Newton-Euler equation and demonstrate the benefits on standard controller-optimization applications. We achieve $3-5$ times speedup over a Newton-Euler-based simulator on a CPU. Our approach can be easily parallelized on a GPU and results in additional $4-15$ times performance improvement.
Publication
Time Integrating Articulated Body Dynamics Using Position-Based Collocation Methods
Zherong Pan, and Dinesh Manocha
The 13th International Workshop on the Algorithmic Foundations of Robotics (WAFR), [PDF]
(Part 1: Discretization Scheme)
Position-Based Time-Integrator for Frictional Articulated Body Dynamics
Zherong Pan, and Dinesh Manocha
The 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), [PDF]
(Part 2: Contact Handling)
Video
Download Video: [MP4]