Screw bondgraphs contact dynamics

Martijn Visser, Stefano Stramigioli, Cock Heemskerk

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

    4 Citations (Scopus)


    This paper presents an elegant contact dynamics model in screw bondgraph form. It can model the contact between any two objects of finite curvature. It does so by defining a Gauss frame on the surfaces of both objects in the points that are closest to each other. Then it describes how the Gauss frames move as the objects move relative to each other. This is called the contact kinematics. The contact kinematics detect when two objects touch, then describe how they roll and slide over and along each other, and then detect when they get loose again. With the contact kinematics a dynamic screw bondgraph model is built. This dynamics model is verified in two simulations. The first simulation shows two objects of nontrivial curvature, eggs, rolling over each other. The second shows a robotic hand manipulating an object.
    Original languageEnglish
    Title of host publicationInternational Conference on Intelligent Robots and Systems
    Place of PublicationLausanne (Switserland)
    Number of pages6
    ISBN (Print)0 7803 7399 5
    Publication statusPublished - 30 Sep 2002
    Event2002 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2002 - Swiss Federal Institute of Technology, Lausanne, Switzerland
    Duration: 30 Sep 20024 Oct 2002


    Conference2002 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2002
    Abbreviated titleIROS
    Internet address


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