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

TitleA propagative model of simultaneous impact: existence, uniqueness, and design consequences
Publication TypeJournal Article
Year of Publication2013
AuthorsSeghete, V., and T. D. Murphey
JournalIEEE Transactions on Automation Engineering
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.

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