TY - GEN
T1 - Variational solutions to simultaneous collisions between multiple rigid bodies
AU - Seghete, Vlad
AU - Murphey, Todd
PY - 2010
Y1 - 2010
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=77955807797&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=77955807797&partnerID=8YFLogxK
U2 - 10.1109/ROBOT.2010.5509766
DO - 10.1109/ROBOT.2010.5509766
M3 - Conference contribution
AN - SCOPUS:77955807797
SN - 9781424450381
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 2731
EP - 2738
BT - 2010 IEEE International Conference on Robotics and Automation, ICRA 2010
T2 - 2010 IEEE International Conference on Robotics and Automation, ICRA 2010
Y2 - 3 May 2010 through 7 May 2010
ER -