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An Object-Oriented Contact Modelling Framework for Robotics

[+] Author Affiliations
Yves Gonthier, Christian Lange

Canadian Space Agency, Saint-Hubert, QC, Canada

Paper No. IMECE2008-66170, pp. 1-10; 10 pages
  • ASME 2008 International Mechanical Engineering Congress and Exposition
  • Volume 14: New Developments in Simulation Methods and Software for Engineering Applications
  • Boston, Massachusetts, USA, October 31–November 6, 2008
  • Conference Sponsors: ASME
  • ISBN: 978-0-7918-4875-3 | eISBN: 978-0-7918-3840-2
  • Copyright © 2008 by Government of Canada


An object-oriented framework that facilitates the creation of contact models based on compliance is introduced. Contact models are created by adding contact model components to a standard container class. The geometric components can readily be implemented for objects with simple geometries. The volumetric contact model is then proposed to handle complex objects. It can be used as a general-purpose tool to model contact between objects of any shapes. Numerical simulation results are presented.

Copyright © 2008 by Government of Canada



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