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A New Nonlinear Model of Contact Normal Force

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2 Author(s)
Morteza Azad ; Sch. of Eng., Australian Nat. Univ., Canberra, ACT, Australia ; Roy Featherstone

This paper presents a new nonlinear model of the normal force that arises during compliant contact between two spheres, or between a sphere and a flat plate. It differs from a well-known existing model by only a single term. The advantage of the new model is that it accurately predicts the measured values of the coefficient of restitution between spheres and plates of various materials, whereas other models do not.

Published in:

IEEE Transactions on Robotics  (Volume:30 ,  Issue: 3 )