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

Movement is fundamental to human and animal life, emerging through interaction of
complex neural, muscular, and skeletal systems. Study of movement draws from and …

In our research we use rigid-body dynamics and optimal control methods to generate 3-D
whole-body walking motions. For the dynamics modeling and computation we created …

In this paper, an innovative numerical modeling strategy for the structural analysis of
historical monumental buildings is presented. The strategy is based on a procedure that …

We propose a technique to simulate granular materials that exploits the dual strengths of
discrete and continuum treatments. Discrete element simulations provide unmatched levels …

Friction is an important part of many dynamic systems, and, as a result, a good model of
friction is necessary for simulating and controlling these systems. A new friction model …

Multi-body separation with collisions is ubiquitous in aerospace engineering. In this paper, a
numerical method for this problem is developed. Coupling with the equations for six-degree …

Multibody simulation with frictional contact has been a challenging subject of research for
the past thirty years. Rigidbody assumptions are commonly used to approximate the physics …

The aim of this work is to extend the finite element multibody dynamics approach to
problems involving frictional contacts and impacts. The nonsmooth generalized-α (NSGA) …

Robotic manipulation and locomotion often entail nearly-simultaneous collisions—such as
heel and toe strikes during a foot step—with outcomes that are extremely sensitive to the …