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 | |
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