An Object-Oriented Contact Modelling Framework for Robotics

Abstract

An object-oriented framework that facilitates the creation of contact models based on compliance is introduced. Contact models are created by adding contact model components to a standard container class. The geometric components can readily be implemented for objects with simple geometries. The volumetric contact model is then proposed to handle complex objects. It can be used as a general-purpose tool to model contact between objects of any shapes. Numerical simulation results are presented.