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- W2016469432 abstract "Abstract In this work we show that the mixed nonlinear complementarity problem may be formulated as an equivalent nonlinear bound-constrained optimization problem that preserves the smoothness of the original data. One may thus take advantage of existing codes for bound-constrained optimization. This approach is implemented and tested by means of an extensive set of numerical experiments, showing promising results. The mixed nonlinear complementarity problems considered in the tests arise from the discretization of a motion planning problem concerning a set of rigid 3D bodies in contact in the presence of friction. We solve the complementarity problem associated with a single time frame, thus calculating the contact forces and accelerations of the bodies involved." @default.
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- W2016469432 date "2005-09-03" @default.
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- W2016469432 title "Mixed Nonlinear Complementarity Problems via Nonlinear Optimization: Numerical Results on Multi-Rigid-Body Contact Problems with Friction" @default.
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- W2016469432 doi "https://doi.org/10.1080/15502280590891564" @default.
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