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Note also that most of the papers available here differ slightly from the versions that appeared in the cited journals.
Journal Papers
Stephen Berard, Binh Nguyen, Kurt Anderson, and J.C. Trinkle. Sources of error in a simulation of rigid parts on a vibrating rigid plate. ASME Computational and Nonlinear Dynamics, 2008. Submitted. [ bib ]
Conference Papers
Stephen Berard, Binh Nguyen, and J.C. Trinkle. Sources of error in a rigid body simulation of rigid parts on a vibrating rigid plate. In ACM Symposium on Applied Computing, May 2009. [ bib | .pdf ]
N. Chakraborty, S. Berard, S. Akella, and J.C. Trinkle. An implicit compliant model for multibody systems with frictional intermittent contact. In ASME International Design Engineering Technical Conferences, October 2007. [ bib | .pdf]
N. Chakraborty, S. Berard, S. Akella, and J.C. Trinkle.
An implicit time-stepping method for multibody systems with
intermittent contact.
In Robotics: Science and Systems, June 2007.
Best Student Paper Award.
[ bib |
.pdf ]
Stephen Berard, Jeff Trinkle, Binh Nguyen, Benjamin Roghani, Vijay Kumar, and
Jonathan Fink.
daVinci code: A multi-model simulation and analysis tool for
multi-body systems.
In IEEE International Conference on Robotics and Automation,
pages 2588-2593, April 2007.
[ bib |
.pdf ]
Kevin Egan, Stephen Berard, and Jeffrey C. Trinkle. Toward Sensorless Acquisition of Multiple Contact Points Between Planar Parts, pages 113-131. Number 18 in STAR - Springer Tracts in Advanced Robotics. Springer Berlin / Heidelberg, 2005. Workshop on Multi-point Interaction in Robotics and Virtual Reality. [ bib | .pdf ]
J.C. Trinkle, Stephen Berard, and J.S. Pang. A time-stepping scheme for quasistatic multibody systems. In IEEE International Symposium on Assembly and Task Planning, pages 174 - 181, March 2005. [ bib | .pdf ]
Stephen Berard, Kevin Egan, and J. C. Trinkle. Contact modes and complementary cones. In IEEE International Conference on Robotics and Automation, pages 5280 - 5286, April 2004. [ bib | .pdf ]
Technical reports
Stephen Berard, Binh Nguyen, Kurt Anderson, and J.C. Trinkle. Sources of error in a simulation of rigid parts on a vibrating rigid plate. Technical Report 08-10, Department of Computer Science, Rensselaer Polytechnic Institute, 2008. [ bib | .pdf ]
Stephen Berard. Cooking with complementarity: A recipe guide for complementarity based rigid-multi-body dynamics simulation. Technical Report 06-08, Department of Computer Science, Rensselaer Polytechnic Institute, 2006. [ bib | .pdf ]
K.T. Egan, Stephen Berard, and J.C. Trinkle. Modeling nonconvex constraints using linear complementarity. Technical Report 03-13, Department of Computer Science, Rensselaer Polytechnic Institute, 2003. [ bib | .pdf ]
K.T. Egan, Stephen Berard, and J.C. Trinkle. Computing wrench bounds along a curved surface in 2d. Technical Report 04-09, Department of Computer Science, Rensselaer Polytechnic Institute, 2004. [ bib | .pdf ]
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