We distinguish between, and discuss the applicability of, two levels of rigidity in rigid-body collision modeling. For rigidity in the strong, force-response, sense collisional contact deformations must be highly localized. The bodies then move according to second order rigid-body mechanics during the collision. Incremental collision laws and most collision models using continuum mechanics for ...

Collision detection is a fundamental problem in robotics, computer animation, physically based modeling and computer simulation environments. This paper explains the collision detection problem in 3D domains. It reviews the problem and the techniques used to solve it. Many algorithms used in collision detection are discussed. Finally, it shows the way VRML detects collision using collision node...

The analysis of terrestrial locomotion over the past half century has focused largely on strategies of mechanical energy recovery used during walking and running. In contrast, we describe the underlying mechanics of legged locomotion as a collision-like interaction that redirects the centre of mass (CoM). We introduce the collision angle, determined by the angle between the CoM force and veloci...