An impact of an elastic sphere with an elastic half space under no-slip conditions (infinitely large coefficient of friction) is studied numerically using the method of dimensionality reduction. It is shown that the rebound velocity and angular velocity, written as proper dimensionless variables, are determined by a function of only the ratio of tangential and normal stiffness ("Mindlin-ratio")...

Light-weight robots are robots especially designed for mobility and interaction with a priori unknown environments and with humans. These applications pose the requirements of a light-weight design with high load to weight ratio and high motion velocity (close to the approximately 1:1 ratio of human arms at a tip velocity of 6m/s). Further, they require a modular, integrated mechanical and elec...