A propagative model of simultaneous impact: Existence, uniqueness, and design consequences

Vlad Seghete, Todd D. Murphey

Research output: Contribution to journalArticlepeer-review

1 Scopus citations

Abstract

This paper presents existence and uniqueness results for a propagative model of simultaneous impacts that is guaranteed to conserve energy and momentum in the case of elastic impacts with extensions to perfectly plastic and inelastic impacts. A corresponding time-stepping algorithm that guarantees conservation of continuous energy and discrete momentum is developed, also with extensions to plastic and inelastic impacts. The model is illustrated in simulation using billiard balls and a two-dimensional legged robot as examples; the latter is optimized over geometry and gait parameters to achieve unique simultaneous impacts.

Original languageEnglish (US)
Article number6572900
Pages (from-to)154-168
Number of pages15
JournalIEEE Transactions on Automation Science and Engineering
Volume11
Issue number1
DOIs
StatePublished - Jan 2014

Keywords

  • Animation and simulation
  • Dynamics
  • Impact modeling
  • Legged robots

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering

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