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

Vlad Seghete; Todd D. Murphey

doi:10.1109/TASE.2013.2267731

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

Vlad Seghete, Todd D. Murphey

Mechanical Engineering

Research output: Contribution to journal › Article › peer-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 language	English (US)
Article number	6572900
Pages (from-to)	154-168
Number of pages	15
Journal	IEEE Transactions on Automation Science and Engineering
Volume	11
Issue number	1
DOIs	https://doi.org/10.1109/TASE.2013.2267731
State	Published - Jan 2014

Keywords

Animation and simulation
Dynamics
Impact modeling
Legged robots

ASJC Scopus subject areas

Control and Systems Engineering
Electrical and Electronic Engineering

Access to Document

10.1109/TASE.2013.2267731

Fingerprint Dive into the research topics of 'A propagative model of simultaneous impact: Existence, uniqueness, and design consequences'. Together they form a unique fingerprint.

Cite this

@article{7df1b1bf56f14e60a6f8d4629d2f2563,

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

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.",

keywords = "Animation and simulation, Dynamics, Impact modeling, Legged robots",

author = "Vlad Seghete and Murphey, {Todd D.}",

year = "2014",

month = jan,

doi = "10.1109/TASE.2013.2267731",

language = "English (US)",

volume = "11",

pages = "154--168",

journal = "IEEE Transactions on Automation Science and Engineering",

issn = "1545-5955",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

number = "1",

}

TY - JOUR

T1 - A propagative model of simultaneous impact

T2 - Existence, uniqueness, and design consequences

AU - Seghete, Vlad

AU - Murphey, Todd D.

PY - 2014/1

Y1 - 2014/1

N2 - 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.

AB - 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.

KW - Animation and simulation

KW - Dynamics

KW - Impact modeling

KW - Legged robots

UR - http://www.scopus.com/inward/record.url?scp=84892441571&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=84892441571&partnerID=8YFLogxK

U2 - 10.1109/TASE.2013.2267731

DO - 10.1109/TASE.2013.2267731

M3 - Article

AN - SCOPUS:84892441571

VL - 11

SP - 154

EP - 168

JO - IEEE Transactions on Automation Science and Engineering

JF - IEEE Transactions on Automation Science and Engineering

SN - 1545-5955

IS - 1

M1 - 6572900

ER -