Numerical case studies of multibody impacts with elastic supports show that impulse-momentum methods fail to handle multiple rebounds, while softer contact springs increase rebound count without changing overall motion.
In: Proceedings of the 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Madrid, Spain, 1–5 October 2018, pp
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Impacts between multibody systems and deformable structures
Numerical case studies of multibody impacts with elastic supports show that impulse-momentum methods fail to handle multiple rebounds, while softer contact springs increase rebound count without changing overall motion.