Computer Music Journal
An effective trajectory generation method for bipedal walking
Robotics and Autonomous Systems
Gamelunch: forging a dining experience through sound
CHI '08 Extended Abstracts on Human Factors in Computing Systems
ACC'09 Proceedings of the 2009 conference on American Control Conference
A toolkit for explorations in sonic interaction design
Proceedings of the 5th Audio Mostly Conference: A Conference on Interaction with Sound
Mimetic Communication Model with Compliant Physical Contact in Human-Humanoid Interaction
International Journal of Robotics Research
Real stiffness augmentation for haptic augmented reality
Presence: Teleoperators and Virtual Environments
Haptic feedback and control of a flexible surgical endoscopic robot
Computer Methods and Programs in Biomedicine
Impact reduction mobile robot and the design of the compliant legs
Robotics and Autonomous Systems
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Contact modeling is an important aspect of simulation of many robotic tasks. In the paper, a compliant contact model with nonlinear damping is investigated, and many previously unknown characteristics of the model are developed. Compliance is used to eliminate many of the problems associated with using rigid body models with Coulomb friction, while the use of nonlinear damping eliminates the discontinuous impact forces and most sticky tensile forces which arise in Kelvin-Voigt linear models. Two of the most important characteristics of the model are the dependence of the coefficient of restitution on velocity and damping in a physically meaningful manner, and its computational simplicity. A full mathematical development for an impact response is given, along with the effects of the system and model parameters on energy loss. A quasistatic analysis gives results which are consistent with energy loss characteristics of a more complex distributed foundation model under sustained contact conditions. A foot contact example for a walking machine is given which demonstrates the applicability of the model for impact on foot placement, sustained contact during the support phase, and the breaking of the contact upon liftoff of the foot