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| Content Provider | IEEE Xplore Digital Library |
|---|---|
| Author | Joukhadar, A. Laugier, C. |
| Copyright Year | 1996 |
| Description | Author affiliation: INRIA Rhone Alpes & GRAVIR, Montbonnot Saint-Martin, France (Joukhadar, A.) |
| Abstract | Dynamic simulation can be a powerful tool for the study of complex contact interactions between robots and their environments, but a large amount of computation is often required to generate numerically accurate simulations. This paper describes an adaptive time step approach to dynamical simulation based on monitoring the conservation of energy. This approach allows us to insure numerical stability and computational efficiency at a very low computational overhead, and also provides estimates of the probable range of numerical errors in position and velocity. The approach is applicable to any physical-based dynamic simulation system and can be integrated with other optimization techniques. |
| Starting Page | 418 |
| Ending Page | 424 |
| File Size | 743720 |
| Page Count | 7 |
| File Format | |
| ISBN | 078033213X |
| DOI | 10.1109/IROS.1996.570806 |
| Language | English |
| Publisher | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Publisher Date | 1996-11-08 |
| Publisher Place | Japan |
| Access Restriction | Subscribed |
| Rights Holder | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Subject Keyword | Computational modeling Deformable models Differential equations Numerical stability Frequency Robots Power generation Numerical simulation Monitoring Computer errors |
| Content Type | Text |
| Resource Type | Article |
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