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

3 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

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10.1109/TASE.2013.2267731

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

Abstract

Keywords

ASJC Scopus subject areas

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