Implementation of 3D ground contact model for uneven ground using SimMechanics

Robotic simulations can be carried out using several goal oriented programs still researchers prefer to use the limited SimMechanics environment because of its popularity in the scientific community. One big disadvantage of SimMechanics is that only fixed ground contacts can be realized with its toolboxes, while mobil robotics projects require a variable ground contact. The aim of this paper is to introduce a SimMechanics model of a 3D ground contact intended to be used with uneven ground.