TY - GEN
T1 - A study of soft contact models in simulink
AU - Bibalan, Pouyan Taghipour
AU - Featherstone, Roy
PY - 2009
Y1 - 2009
N2 - This paper investigates the use of different soft contact and friction models, in Simulink, in the context of legged locomotion. The main criterion for assessing the models is the number of integration steps that are taken using variable step integration methods. The variables that are considered for the comparisons are the type of contact and friction models, the integration method, the desired integration accuracy, and mass of the colliding body.
AB - This paper investigates the use of different soft contact and friction models, in Simulink, in the context of legged locomotion. The main criterion for assessing the models is the number of integration steps that are taken using variable step integration methods. The variables that are considered for the comparisons are the type of contact and friction models, the integration method, the desired integration accuracy, and mass of the colliding body.
UR - http://www.scopus.com/inward/record.url?scp=84855585008&partnerID=8YFLogxK
M3 - Conference contribution
SN - 9780980740400
T3 - Proceedings of the 2009 Australasian Conference on Robotics and Automation, ACRA 2009
BT - Proceedings of the 2009 Australasian Conference on Robotics and Automation, ACRA 2009
T2 - 2009 Australasian Conference on Robotics and Automation, ACRA 2009
Y2 - 2 December 2009 through 4 December 2009
ER -