A new nonlinear model of contact normal force

Morteza Azad; Roy Featherstone

doi:10.1109/TRO.2013.2293833

A new nonlinear model of contact normal force

Morteza Azad, Roy Featherstone

Computer Science

Research output: Contribution to journal › Article › peer-review

14 Citations (Scopus)

Abstract

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 language	English
Pages (from-to)	736-739
Number of pages	3
Journal	IEEE Transactions on Robotics
Volume	30
Issue number	3
Early online date	19 Dec 2013
DOIs	https://doi.org/10.1109/TRO.2013.2293833
Publication status	Published - Jun 2014

Keywords

animation and simulation
compliant contact model
nonlinear damping
normal force

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10.1109/TRO.2013.2293833Licence: None: All rights reserved

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title = "A new nonlinear model of contact normal force",

abstract = "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.",

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AB - 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.

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KW - nonlinear damping

KW - normal force

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JO - IEEE Transactions on Robotics

JF - IEEE Transactions on Robotics

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A new nonlinear model of contact normal force

Abstract

Keywords

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