A new nonlinear model of contact normal force

Morteza Azad, Roy Featherstone

Research output: Contribution to journalArticlepeer-review

14 Citations (Scopus)


This paper presents a new nonlinear model of the normal force that arises during compliant contact between two spheres, or between a sphere and a flat plate. It differs from a well-known existing model by only a single term. The advantage of the new model is that it accurately predicts the measured values of the coefficient of restitution between spheres and plates of various materials, whereas other models do not.
Original languageEnglish
Pages (from-to)736-739
Number of pages3
JournalIEEE Transactions on Robotics
Issue number3
Early online date19 Dec 2013
Publication statusPublished - Jun 2014


  • animation and simulation
  • compliant contact model
  • nonlinear damping
  • normal force

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