Collision detection and response is one of the most difficult areas in simulation of multibody systems. Two known approaches, the impulse-based method and the force-based (penalty) method, can be applied for multibody simulation in Modelica[13]. The impulse-based method requires instantaneous modification of some variables, but such modification is not always possible in Modelica. The force-bas...

Quadrupedal running on grades requires balancing of pitch moments about the center of mass (COM) while supplying sufficient impulse to maintain a steady uphill or downhill velocity. Here, trotting mechanics on a 15 deg grade were characterized by the distribution of impulse between the limbs and the angle of resultant impulse at each limb. Anterior-posterior manipulation of COM position has pre...

We developed a passive haptic technique, using the brake of a DC motor, to create a greater perception of impulse force. We found that when using the brake of a DC motor, delivering two short pulses immediately prior to the main brake significantly increases the operator’s perception of impulse force. This finding was verified during our empirical assessment. In the experiment, all five partici...

During quadrupedal trotting, diagonal pairs of limbs are set down in unison and exert forces on the ground simultaneously. Ground-reaction forces on individual limbs of trotting dogs were measured separately using a series of four force platforms. Vertical and fore-aft impulses were determined for each limb from the force/time recordings. When mean fore-aft acceleration of the body was zero in ...

Dynamic force (vibration and impulse force) modifies mechanical properties and flow behavior of solid bodies. Experiments in shearing of reinforcement bars with vibration (7.9 kHz) conducted by authors and S.A. Evtjukov at the Department of Construction Machinery of SPbGASU (Saint Petersburg State University of Architecture and Civil Engineering) revealed the reduction of the static part of the...