Browsing Engineering (Faculty of) by Author "Gonthier, Yves"
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Contact Dynamics Modelling for Robotic Task Simulation
Gonthier, Yves (University of Waterloo, 2007-10-26)This thesis presents the theoretical derivations and the implementation of a contact dynamics modelling system based on compliant contact models. The system was designed to be used as a general-purpose modelling tool to ...