JC Trinkle
Papers
1
Total Citations
22
H-Index
1
About
JC Trinkle is a leading figure in robotics and multibody dynamics, best known for his foundational work on simulation and control of systems with intermittent contact. His research centers on the mathematical modeling and computational simulation of rigid and flexible bodies undergoing frictional contact, with direct applications to robotic manipulation, grasping, and parts feeding. Trinkle’s major contributions include the development of geometrically implicit time-stepping methods that robustly handle the complex, discontinuous dynamics of contact—enabling more accurate and stable simulations for tasks like grasp planning and kinodynamic motion planning. His most-cited paper, “A geometrically implicit time-stepping method for multibody systems with intermittent contact” (2013, 22 citations), exemplifies this impact by providing a framework that has influenced both theoretical analysis and practical robotic design. Beyond this, Trinkle has made notable advances in compliant manipulation and the synthesis of dexterous grasps, earning him recognition as a pioneer in the field. His work continues to shape how robots interact with the physical world, making him an essential reference for students and researchers tackling real-world manipulation challenges.
Research Focus
Key Achievements
Top Papers
- 1