Modelling, Analysis and Experiments of Multibody Systems with Unilateral
This presentation will be about a number of example systems which have been dealt
with using the nonsmooth contact dynamics approach: The Tippetop, The rolling
disk, The Snake Robot, Newton's Cradle.
The presentation will focus on modeling problems, numerical aspects and measurements.
Bibliography (The PDF's of all papers can be downloaded from here ):
Leine, R.I., "Experimental and theoretical investigation of the energy dissipation
of a rolling disk during its final stage of motion", Archive of Applied Mechanics,
Vol. 79, No. 11, pp. 1063-1082, 2009.
Glocker Ch., Cataldi-Spinola E., Leine R. I., Curve Squealing of Trains:
Measurement, Modelling and Simulation. Journal of Sound and Vibration 324 (1-2), pp.
Transeth, A. A., Leine R.I., Glocker, Ch., Pettersen, K. Y., "3D Snake robot motion:
Non-smooth modeling, simulations, and experiments" IEEE Transactions on Robotics,
Vol. 24, No. 2, pp. 361-376, 2008.
Transeth, A. A., Leine R.I., Glocker, Ch., Pettersen, K. Y., Liljebäck, P., "Snake
robot obstacle-aided locomotion: Modeling, simulations, and experiments" IEEE
Transactions on Robotics, Vol. 24, No. 1, pp. 88-104, 2008.
Leine, R.I. and Glocker, Ch., "A set-valued force law for spatial Coulomb-Contensou
friction", European Journal of Mechanics, Vol. 22,2, pp. 193-216, 2003.
Leine R. I., Glocker Ch., Van Campen D. H., Nonlinear Dynamics and Modeling of
Various Wooden Toys with Impact and Friction. Journal of Vibration and Control 9
(1-2), pp. 25-78, 2003.