Modeling the kinematics and Dynamics of Compliant Contact

V. Duindam; Stefano Stramigioli

doi:10.1109/ROBOT.2003.1242216

Modeling the kinematics and Dynamics of Compliant Contact

V. Duindam, Stefano Stramigioli

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › Academic › peer-review

14 Citations (Scopus)

202 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 language	Undefined
Title of host publication	Proceedings of the IEEE ICRA 2003
Place of Publication	Taipei, Taiwan
Publisher	IEEE
Pages	4029-4034
Number of pages	6
ISBN (Print)	0-7803-7737-0
DOIs	https://doi.org/10.1109/ROBOT.2003.1242216
Publication status	Published - 14 Sept 2003
Event	2003 IEEE International Conference on Robotics and Automation, ICRA 2003 - Taipei, Taiwan Duration: 14 Sept 2003 → 19 Sept 2003

Publication series

Name
Publisher	IEEE
Volume	3

Conference

Conference	2003 IEEE International Conference on Robotics and Automation, ICRA 2003
Abbreviated title	ICRA
Country/Territory	Taiwan
City	Taipei
Period	14/09/03 → 19/09/03

Keywords

METIS-212550
IR-45543

Access to Document

10.1109/ROBOT.2003.1242216

01242216

Cite this

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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.",

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AU - Stramigioli, Stefano

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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.

KW - METIS-212550

KW - IR-45543

U2 - 10.1109/ROBOT.2003.1242216

DO - 10.1109/ROBOT.2003.1242216

M3 - Conference contribution

SN - 0-7803-7737-0

SP - 4029

EP - 4034

BT - Proceedings of the IEEE ICRA 2003

PB - IEEE

CY - Taipei, Taiwan

T2 - 2003 IEEE International Conference on Robotics and Automation, ICRA 2003

Y2 - 14 September 2003 through 19 September 2003

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