Simulation Research

• September 01, 2016

  Wild Robot Motion Study and Data Repository

  Wild Robot: Weazelball motion study and data repository.Project page:https://github.com/PositronicsLab/wild-robot

• October 17, 2015

  Adaptive Integration for Controlling Speed vs. Accuracy in Multi-Rigid Body Simulation

  This research focuses on approaches for speeding multi-rigid body dynamics simulation of robots with intermittent contacts.The speed of such simulations seems to be reaching a performance asymptote. Wang (2013) profiled sucha simulation (using Gaz...

• October 01, 2014

  Grasp Simulation Study and Data Repository

  Grasp simulation study and data repository.Project page:https://github.com/PositronicsLab/grasp-data

• July 01, 2014

  Simulation of hopping robot

  This is a Moby simulation of a hopping robot on terrain. Sam Zapolsky implemented the controller for the robot, which we simulated using adaptive integration (Bulirsch-Stoer) and continuous collision detection.

• April 01, 2014

  Time Consistent Simulation

  TCS: A framework for time consistent simulation.Project page:https://github.com/PositronicsLab/tcs

• January 01, 2010

  Dynamic robotic simulation

  O(n3) convex complementarity-free contact modelOur multi-rigid bodycontact model requires time O(n3) inthe number of contact points to solve. Using any one of numerous widelyavailable interior point solvers yields numerical robustness,true frictio...

• January 01, 2009

  Continuous collision detection

  Continuous collision detection (CCD) permits accurate time of contact determination andcomputation of contact data (points and normals) in multi-rigid bodysimulation. CCD methods are also usable for motion planning algorithms.Our method works with...