A Study of Soft Contact Models in Simulink
نویسندگان
چکیده
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.
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