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A hybrid systems model for simple manipulation and self-manipulation systems
2016
The international journal of robotics research
Rigid bodies, plastic impact, persistent contact, Coulomb friction, and massless limbs are ubiquitous simplifications introduced to reduce the complexity of mechanics models despite the obvious physical inaccuracies that each incurs individually. In concert, it is well known that the interaction of such idealized approximations can lead to conflicting and even paradoxical results. As robotics modeling moves from the consideration of isolated behaviors to the analysis of tasks requiring their
doi:10.1177/0278364916639380
fatcat:af6ngbco7revfg4m37ixvcredu