A study of soft contact models in simulink

Pouyan Taghipour Bibalan; Roy Featherstone

A study of soft contact models in simulink

Pouyan Taghipour Bibalan^*, Roy Featherstone

^*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceeding › Conference Paper › peer-review

11 Citations (Scopus)

Abstract

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.

Original language	English
Title of host publication	Proceedings of the 2009 Australasian Conference on Robotics and Automation, ACRA 2009
Publication status	Published - 2009
Event	2009 Australasian Conference on Robotics and Automation, ACRA 2009 - Sydney, NSW, Australia Duration: 2 Dec 2009 → 4 Dec 2009

Publication series

Name	Proceedings of the 2009 Australasian Conference on Robotics and Automation, ACRA 2009

Conference

Conference	2009 Australasian Conference on Robotics and Automation, ACRA 2009
Country/Territory	Australia
City	Sydney, NSW
Period	2/12/09 → 4/12/09

Cite this

@inproceedings{2b866707f8c5492db30a095f0ff68f9a,

title = "A study of soft contact models in simulink",

abstract = "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.",

author = "Bibalan, \{Pouyan Taghipour\} and Roy Featherstone",

year = "2009",

language = "English",

isbn = "9780980740400",

series = "Proceedings of the 2009 Australasian Conference on Robotics and Automation, ACRA 2009",

booktitle = "Proceedings of the 2009 Australasian Conference on Robotics and Automation, ACRA 2009",

note = "2009 Australasian Conference on Robotics and Automation, ACRA 2009 ; Conference date: 02-12-2009 Through 04-12-2009",

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A study of soft contact models in simulink. / Bibalan, Pouyan Taghipour; Featherstone, Roy.
Proceedings of the 2009 Australasian Conference on Robotics and Automation, ACRA 2009. 2009. (Proceedings of the 2009 Australasian Conference on Robotics and Automation, ACRA 2009).

Research output: Chapter in Book/Report/Conference proceeding › Conference Paper › peer-review

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 - https://www.scopus.com/pages/publications/84855585008

M3 - Conference Paper

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 -

A study of soft contact models in simulink

Abstract

Publication series

Conference

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