Legged robots that balance
Impulse-based simulation of rigid bodies
I3D '95 Proceedings of the 1995 symposium on Interactive 3D graphics
On the control of a one degree-of-freedom juggling robot
Dynamics and Control
Rigid-Body Dynamics with Friction and Impact
SIAM Review
Mechanics of robotic manipulation
Mechanics of robotic manipulation
The Handbook of Mathematics and Computational Science
The Handbook of Mathematics and Computational Science
An impact dynamics model and sequential optimization to generate impact motions for a humanoid robot
International Journal of Robotics Research
Three-dimensional impact: energy-based modeling of tangential compliance
International Journal of Robotics Research
Three-dimensional impact: energy-based modeling of tangential compliance
International Journal of Robotics Research
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Impact happens when two or more bodies collide, generating very large impulsive forces in a very short period of time during which kinetic energy is first absorbed and then released after some loss. This paper introduces a state transition diagram to model a frictionless multibody collision. Each state describes a different topology of the collision characterized by the set of instantaneously active contacts. A change of state happens when a contact disappears at the end of restitution, or when a disappeared contact reappears as the relative motion of two bodies goes from separation into penetration. Within a state, (normal) impulses are coupled differentially subject to relative stiffnesses at the active contact points and the strain energies stored there. Such coupling may cause restart of compression from restitution during a single impact. Impulses grow along a bounded curve with first-order continuity, and converge during the state transitions. To solve a multibody collision problem with friction and tangential compliance, the above impact model is integrated with a compliant impact model. The paper compares model predictions to a physical experiment for the massé shot, which is a difficult trick in billiards, with a good result.