Modeling the kinematics and Dynamics of Compliant Contact

Research output: Chapter in Book/Report/Conference proceedingConference contributionAcademicpeer-review

12 Citations (Scopus)
43 Downloads (Pure)

Abstract

In this paper, we discuss the modeling of the kinematics and dynamics of compliant contact between bodies moving in Euclidean space. First, we derive the kinematic equations describing the motion of the contact point when two rigid bodies are rolling on each other. Secondly, we extend these results to describe the motion of the closest points between two rigid bodies moving freely in space. Then, we use these results to model compliant contact between bodies, using a spatial spring and a damper to model energy stored and dissipated during contact.
Original languageUndefined
Title of host publicationProceedings of the IEEE ICRA 2003
Place of PublicationTaipei, Taiwan
PublisherIEEE
Pages4029-4034
Number of pages6
ISBN (Print)0-7803-7737-0
DOIs
Publication statusPublished - 14 Sep 2003
Event2003 IEEE International Conference on Robotics and Automation, ICRA 2003 - Taipei, Taiwan, Province of China
Duration: 14 Sep 200319 Sep 2003

Publication series

Name
PublisherIEEE
Volume3

Conference

Conference2003 IEEE International Conference on Robotics and Automation, ICRA 2003
Abbreviated titleICRA
CountryTaiwan, Province of China
CityTaipei
Period14/09/0319/09/03

Keywords

  • METIS-212550
  • IR-45543

Cite this

Duindam, V., & Stramigioli, S. (2003). Modeling the kinematics and Dynamics of Compliant Contact. In Proceedings of the IEEE ICRA 2003 (pp. 4029-4034). Taipei, Taiwan: IEEE. https://doi.org/10.1109/ROBOT.2003.1242216
Duindam, V. ; Stramigioli, Stefano. / Modeling the kinematics and Dynamics of Compliant Contact. Proceedings of the IEEE ICRA 2003. Taipei, Taiwan : IEEE, 2003. pp. 4029-4034
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title = "Modeling the kinematics and Dynamics of Compliant Contact",
abstract = "In this paper, we discuss the modeling of the kinematics and dynamics of compliant contact between bodies moving in Euclidean space. First, we derive the kinematic equations describing the motion of the contact point when two rigid bodies are rolling on each other. Secondly, we extend these results to describe the motion of the closest points between two rigid bodies moving freely in space. Then, we use these results to model compliant contact between bodies, using a spatial spring and a damper to model energy stored and dissipated during contact.",
keywords = "METIS-212550, IR-45543",
author = "V. Duindam and Stefano Stramigioli",
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doi = "10.1109/ROBOT.2003.1242216",
language = "Undefined",
isbn = "0-7803-7737-0",
publisher = "IEEE",
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booktitle = "Proceedings of the IEEE ICRA 2003",
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Duindam, V & Stramigioli, S 2003, Modeling the kinematics and Dynamics of Compliant Contact. in Proceedings of the IEEE ICRA 2003. IEEE, Taipei, Taiwan, pp. 4029-4034, 2003 IEEE International Conference on Robotics and Automation, ICRA 2003, Taipei, Taiwan, Province of China, 14/09/03. https://doi.org/10.1109/ROBOT.2003.1242216

Modeling the kinematics and Dynamics of Compliant Contact. / Duindam, V.; Stramigioli, Stefano.

Proceedings of the IEEE ICRA 2003. Taipei, Taiwan : IEEE, 2003. p. 4029-4034.

Research output: Chapter in Book/Report/Conference proceedingConference contributionAcademicpeer-review

TY - GEN

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N2 - In this paper, we discuss the modeling of the kinematics and dynamics of compliant contact between bodies moving in Euclidean space. First, we derive the kinematic equations describing the motion of the contact point when two rigid bodies are rolling on each other. Secondly, we extend these results to describe the motion of the closest points between two rigid bodies moving freely in space. Then, we use these results to model compliant contact between bodies, using a spatial spring and a damper to model energy stored and dissipated during contact.

AB - In this paper, we discuss the modeling of the kinematics and dynamics of compliant contact between bodies moving in Euclidean space. First, we derive the kinematic equations describing the motion of the contact point when two rigid bodies are rolling on each other. Secondly, we extend these results to describe the motion of the closest points between two rigid bodies moving freely in space. Then, we use these results to model compliant contact between bodies, using a spatial spring and a damper to model energy stored and dissipated during contact.

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Duindam V, Stramigioli S. Modeling the kinematics and Dynamics of Compliant Contact. In Proceedings of the IEEE ICRA 2003. Taipei, Taiwan: IEEE. 2003. p. 4029-4034 https://doi.org/10.1109/ROBOT.2003.1242216