This is a review of well established and recently introduced contact-force models that are
used in the dynamical analysis of multibody systems. In particular, two contact groups have …

In the present work, an introduction to the contact phenomena in multibody systems is made.
The different existing approaches are described, together with their most distinctive features …

Over the last decades, several compliant contact force models have been proposed.
However, no complete and systematic comparison has been done on these models, which …

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) …

This monograph combines the knowledge of both the field of nonlinear dynamics and non-
smooth mechanics, presenting a framework for a class of non-smooth mechanical systems …

This paper introduces and studies the class of differential variational inequalities (DVIs) in a
finite-dimensional Euclidean space. The DVI provides a powerful modeling paradigm for …

Physics simulation is ubiquitous in robotics. Whether in model-based approaches (eg,
trajectory optimization), or model-free algorithms (eg, reinforcement learning), physics …

A review is presented of the one-parameter, nonsmooth bifurcations that occur in a variety of
continuous-time piecewise-smooth dynamical systems. Motivated by applications, a …

The nature of the constitutive contact force law utilized to describe contact–impact events in
solid contact interfaces plays a key role in predicting the response of multibody mechanical …

Page 1 LECTURE NOTES IN APPLIED AND COMPUTATIONAL MECHANICS VOL. 43 Raouf A.
Ibrahim Vibro-Impact Dynamics Modeling, Map** and Applications Springer Page 2 Lecture …