BRIAN MIRTICH PHD THESIS

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The simulator provides standard low-level controllers, such as proportional derivative PD controllers, to actuate the multibody joints.

Collision Detection

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Brian Mirtich Phd Thesis

Existing methods of simulation of motion of rigid bodies are considered that take into account collisions and joints of such bodies. That is why you that mirtich thesis phd brian will also.

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brian mirtich phd thesis

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