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) …

So-called robot–object Lagrangian systems consist of a class of nonsmooth underactuated
complementarity Lagrangian systems, with a specific structure: an “object” and a “robot” …

In this study, a review is presented on previous work referring to analytical modeling of
mechanical systems having components that come in contact during their motion in ways …

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 concerns the dynamics of planar rocking blocks, which are mechanical systems
subject to two unilateral constraints with friction. A recently introduced multiple impact law …

Impact is indispensable in robotic manipulation tasks in which objects and/or manipulators
move at high speeds. Applied research using impact has been hindered by underdeveloped …

This chapter is dedicated to comparisons of three well-known models that apply to multiple
(that is, simultaneous) collisions: Moreau's law, the binary collision law, and the LZB model …

In this paper, we analyze the capabilities of a generalized kinematic (Newton's like)
restitution law for the modeling of a planar rigid block that impacts a rigid ground. This …

This work presents a method for determining the post-impact behavior of a rigid body
undergoing multiple, simultaneous impact with friction. A discrete algebraic model is used …

This work proposes an analytic method for resolving planar multi-point indeterminate impact
problems for rigid-body systems. An event-based approach is used to detect impact events …