Variational solutions to simultaneous collisions between multiple rigid bodies

Vlad Seghete*, Todd David Murphey

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingConference contribution

10 Scopus citations

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.

Original languageEnglish (US)
Title of host publication2010 IEEE International Conference on Robotics and Automation, ICRA 2010
Pages2731-2738
Number of pages8
DOIs
StatePublished - Aug 26 2010
Event2010 IEEE International Conference on Robotics and Automation, ICRA 2010 - Anchorage, AK, United States
Duration: May 3 2010May 7 2010

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
ISSN (Print)1050-4729

Other

Other2010 IEEE International Conference on Robotics and Automation, ICRA 2010
CountryUnited States
CityAnchorage, AK
Period5/3/105/7/10

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

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