A new nonlinear model of contact normal force

Morteza Azad, Roy Featherstone

    Research output: Contribution to journalArticlepeer-review

    25 Citations (Scopus)


    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.

    Original languageEnglish
    Article number6689296
    Pages (from-to)736-739
    Number of pages4
    JournalIEEE Transactions on Robotics
    Issue number3
    Publication statusPublished - Jun 2014


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