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In this paper we demonstrate the limitations of common rigid-body contact models used in the robotics community by comparing them to a collection of data-driven and data-reinforced models that exploit underlying structure inspired by the rigid contact paradigm.
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Pose estimation for contact manipulation with manifold particle filters
M. C. Koval, M. R. Dogar, N. S. Pollard, and S. S. Srinivasa · 2013
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Pose estimation for planar contact manipulation with manifold particle filters
M. Koval, N. Pollard, and S. Srinivasa · 2015
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N. Fazeli, S. Zapolsky, E. Drumwright, and A. Rodriguez
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Optimization-based locomotion planning, estimation, and control design for the atlas humanoid robot
S. Kuindersma, R. Deits, M. Fallon, A. Valenzuela, H. Dai, F. Permenter, T. Koolen, P. Marion, and R. Tedrake · 2016
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Empirical evaluation of common contact models for planar impact
N. Fazeli, E. Donlon, E. Drumwright, and A. Rodriguez · 2017
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Identifiability analysis of planar rigid-body frictional contact
N. Fazeli, R. Tedrake, and A. Rodriguez · 2018
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