Fundamental Limitations in Performance and Interpretability of Common Planar Rigid-Body Contact Models
The ability to reason about and predict the outcome of contacts is paramount to the successful execution of many robot tasks. Analytical rigid-body contact models are used extensively in planning and control due to their computational efficiency and simplicity, yet despite their prevalence, little i...
| Main Authors: | , , , |
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| Other Authors: | |
| Format: | Article |
| Language: | English |
| Published: |
Springer International Publishing,
2022-01-14T15:53:09Z.
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| Subjects: | |
| Online Access: | Get fulltext |