This work reviews the main techniques to model dynamical systems with contact-impact
events. Regularized and non-smooth formulations are considered, wherein the fundamental …

Dynamic walking on bipedal robots has evolved from an idea in science fiction to a practical
reality. This is due to continued progress in three key areas: a mathematical understanding …

Thank you for opening the third edition of this monograph. The first edition [202] was
published in 1996 in the Lecture Notes in Control and Information Sciences series (vol. 220) …

The promise of legged robots over wheeled robots is to provide improved mobility over
rough terrain. Unfortunately, this promise comes at the cost of a significant increase in …

Highlights•Bi-stiffness contact model is positively verified for the storage of
wheat.•Calibration of the DEM parameters of wheat for storage is performed.•Bulk properties …

A new method is proposed that can deal with multi-impact problems and produce
energetically consistent and unique post-impact velocities. A distributing law related to the …

This paper appraises the current status of research devoted to the problem of modeling
impact in multibody systems. The paper presents a focused, yet coherent overview of the …

Smooth approaches are able to model reasonably well contact/impact events between two
bodies, showing some peculiarities when dealing with certain geometries and arising …

The observation of old construction works confirms that masonry domes can withstand
tensile hoop stresses, at least up to a certain level. Here, such tensile resistance, rather than …

So-called robot–object Lagrangian systems consist of a class of nonsmooth underactuated
complementarity Lagrangian systems, with a specific structure: an “object” and a “robot” …