Publication

Hanyang University HumanRobotics Lab

International Journal
Modeling of External and Internal Impulses in Case of Multiple Collisions
Journal
International Journal of Modern Physics B
Vol
Vol. 22, No. 09n11
Page
pp. 1455-1460
Author
J. H. Chung, B.-J. Yi
Year
2008
Date
2008.07.30
File
Modeling of External and Internal Impulses in Case of Multiple Collisions.pdf (266.7K) 1회 다운로드 DATE : 2020-10-18 16:32:01
Abstract: When a robot system collides with environment, not only the contact point but also the joints of the robot system experience impulsive forces or moments. In the real environment, the structure collides with environment at multiple points. However, most previous modeling methods have assumed one point contact to environment. In this work, we propose external and internal impulse models in case of multiple contact. The case of one point contact is compared to the case of multiple points contact through simulation.