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

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 …

The focus of this survey is the modeling and control of bipedal locomotion systems. More
specifically, we seek to review the developments in the field within the framework of stability …

This article deals with the collision of steel bars with external surfaces. The central issue of
the article is the investigation of the fundamental concepts that are used to solve collision …

In this paper a planar mechanism with a flexible rod with cracks and slider clearance is
investigated. The flexible rod is modeled with lumped masses. The equations of motion in …

This thesis attempts to present a unified view of the subject of rigid body collisions. This
includes discussion of basic assumptions, fundamental and reasonable constraints on …

In this paper we consider the most basic multi-impact system, the so-called “Newton's
Cradle.” The task of develo** an analytical method to predict the post impact velocities of …

In this paper, we formulate a semi‐implicit time‐step** model for multibody mechanical
systems with frictional, distributed compliant contacts. Employing a polyhedral pyramid …

The extension of collision models for single impacts between two bodies, to the case of
multiple impacts (which take place when several collisions occur at the same time in a …

This paper deals with collision with friction. In Part A, equations governing a one-point
collision of planar, simple nonholonomic systems are generated. Expressions for the normal …