This article presents computationally efficient algorithms for modeling two special cases of rigid contact— contact with only viscous friction and contact without slip—that have particularly useful applications in robotic locomotion and grasping. Modeling rigid contact with Coulomb friction generally exhibits O(n) expected time complexity in the number of contact points and 2 worst-case complex...

Wheel wear has been a concern in the railway for several decades. Studying the form change of the wheel/rail contacts in particular railways consisting of sharp curves helps to identify the risk of severe or catastrophic wear to minimize maintenance costs in order to be competitive in the transportation business. In this paper, the wheel/rail contact was studied on the particular railways. The ...

Computational analyses of leg-muscle function in human locomotion commonly assume that contact between the foot and the ground occurs at discrete points on the sole of the foot. Kinematic constraints acting at these contact points restrict the motion of the foot and, therefore, alter model calculations of muscle function. The aim of this study was to evaluate how predictions of muscle function ...

Haptic exploration has received a great deal of attention of late thanks to the variety of commercially available tactile sensors. While the majority of previous works consider control of a single contact point at a time, we tackle simultaneous control of multiple contact points on several links. In addition, we use information from the existing tactile signals to increase the number of points ...

This paper presents a method for generating dynamically feasible, keyframe-interpolating motions for robots undergoing contact, such as in legged locomotion and manipulation. The first stage generates a twice-differentiable interpolating path that obeys kinematic contact constraints up to a user-specified tolerance. The second stage optimizes speeds along the path to minimize time while satisfy...

Systems of three or more conservation laws in which a conserved quantity is passively transported have a contact eld; sometimes, the contact speed and the speed of one of the nonlinear waves coincide on a surface in state space. We prove that this resonance surface contains the equilibrium points of the contact eld. We construct locally the Riemann solution for an example of such a system of th...

This paper presents a kinematic algorithm of multifingered manipulation. To model the motion of the handobject system with rolling contact, two equations are necessary: the equation of contact and the one describing the relationship between the object velocity and the joint velocity. We provide a simple method in developing the second equation. By defining the orthogonal decomposition of the ve...

In this paper, an analytical method based on Modified Slab Method of analysis is presented to study the asymmetrical rolling process due to difference in work rolls radii, rolls speeds and interface frictions. The shear force imposed on material along the contact region is considered to be a function of the frictional factor and the roll gap geometry. Elastic-plastic with linear work hardening ...