Conditions for uniqueness in simultaneous impact with application to mechanical design

Vlad Seghete*, Todd David Murphey

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingConference contribution

4 Scopus citations

Abstract

We present a collision resolution method based on momentum maps and show how it extends to handling multiple simultaneous collisions. Simultaneous collisions, which are common in robots that walk or climb, do not necessarily have unique outcomes, but we show that for special configurations - e.g. when the surfaces of contact are orthogonal in the appropriate sense - simultaneous impacts have unique outcomes, making them considerably easier to understand and simulate. This uniqueness helps us develop a measure of the unpredictability of the impact outcome based on the state at impact and is used for gait and mechanism design, such that a mechanism's actions are more predictable and hence controllable. As a preliminary example, we explore the configuration space at impact for a model of the RHex running robot and find optimal configurations at which the unpredictability of the impact outcome is minimized.

Original languageEnglish (US)
Title of host publication2012 IEEE International Conference on Robotics and Automation, ICRA 2012
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages5006-5011
Number of pages6
ISBN (Print)9781467314039
DOIs
StatePublished - Jan 1 2012
Event 2012 IEEE International Conference on Robotics and Automation, ICRA 2012 - Saint Paul, MN, United States
Duration: May 14 2012May 18 2012

Other

Other 2012 IEEE International Conference on Robotics and Automation, ICRA 2012
CountryUnited States
CitySaint Paul, MN
Period5/14/125/18/12

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

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  • Cite this

    Seghete, V., & Murphey, T. D. (2012). Conditions for uniqueness in simultaneous impact with application to mechanical design. In 2012 IEEE International Conference on Robotics and Automation, ICRA 2012 (pp. 5006-5011). [6224737] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICRA.2012.6224737