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) …

Rigid-body dynamics with unilateral contact is a good approximation for a wide range of
everyday phenomena, from the operation of car brakes to walking to rock slides. It is also of …

This letter introduces Minitaur, a dynamically running and lea** quadruped, which
represents a novel class of direct-drive (DD) legged robots. We present a methodology that …

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 …

Terrestrial legged locomotion requires repeated support forces to redirect the body's vertical
velocity component from down to up. We assume that the redirection is accomplished by …

We consider the simulation of nonconvex rigid bodies focusing on interactions such as
collision, contact, friction (kinetic, static, rolling and spinning) and stacking. We advocate …

Interactive rigid body simulation is an important part of many modern computer tools, which
no authoring tool nor game engine can do without. Such high‐performance computer tools …

We describe a full-featured simulation pipeline implemented in the MuJoCo physics engine.
It includes multi-joint dynamics in generalized coordinates, holonomic constraints, dry joint …

We address performance limits and dynamic behaviours of the two dimensional passive-
dynamic bipedal walking mechanisms of Tad McGeer. The results highlight the role of …

Rigid bodies, plastic impact, persistent contact, Coulomb friction, and massless limbs are
ubiquitous simplifications introduced to reduce the complexity of mechanics models despite …