Title :
A New Nonlinear Model of Contact Normal Force
Author :
Azad, Mohammad ; Featherstone, Roy
Author_Institution :
Sch. of Eng., Australian Nat. Univ., Canberra, ACT, Australia
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.
Keywords :
nonlinear control systems; robots; compliant contact; contact normal force; nonlinear model; Computational modeling; Data models; Force; Materials; Mathematical model; Predictive models; Robots; Animation and simulation; compliant contact model; nonlinear damping; normal force;
Journal_Title :
Robotics, IEEE Transactions on
DOI :
10.1109/TRO.2013.2293833
