Hybrid dynamic simulation of rigid-body contact with Coulomb friction

Wookho Son, Jeffrey C. Trinkle, Nancy M. Amato

Research output: Contribution to journalArticlepeer-review


This paper introduces a hybrid scheme for simulating rigid bodies in contact. We use an adaptive strategy for handling two different contact situations, 'bouncing' and 'steady'. To handle contact for rigid bodies, we use two impulse-based methods to explicitly or implicitly compute impulses due to collision impact. These two methods are used so that different impulse methods are applied adaptively depending on the contact situations. Our experiments show that our simple adaptive simulation scheme enables efficient and physically-correct dynamic simulation involving rigid-body contacts with Coulomb friction. This adaptive scheme was incorporated into our dynamic simulator, called I-GMS, which supports various types of simulations. We demonstrate the simulation results of our scheme using a ball falling on a flat surface in three dimensions.

Original languageEnglish (US)
Pages (from-to)1376-1381
Number of pages6
JournalProceedings - IEEE International Conference on Robotics and Automation
StatePublished - 2001
Externally publishedYes

ASJC Scopus subject areas

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


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