Variational solutions to simultaneous collisions between multiple rigid bodies

TitleVariational solutions to simultaneous collisions between multiple rigid bodies
Publication TypeConference Paper
Year of Publication2010
AuthorsSeghete, V., and T. D. Murphey
Conference Name2010 IEEE International Conference on Robotics and Automation (ICRA 2010)
Date Published05/2010
PublisherIEEE
Conference LocationAnchorage, AK
ISBN Number978-1-4244-5038-1
Abstract

We present a method of resolving simultaneous collisions between multiple rigid bodies based on the least action principle. By using the generalized directional derivative of the action, we use that the solution is related to the outcomes of nearby trajectories that experience consecutive single impacts. We present an algorithm based on this result, and prove its effectiveness by applying it to several low dimensionality examples based on billiard ball interactions, including a simplified version of Newton's cradle.

DOI10.1109/ROBOT.2010.5509766
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