Abstract: In this article, we consider a special class of collision problems that are frequently encountered in the field of robotics. Such problems can be described as a kinematic chain with one of its ends striking an external ...

Abstract: Researchers often use mechanisms that consist of massless rods and concentrated masses in order to capture the dynamics of robotic locomotors. A kinematic prototyping tool that captures all possible locomotion modes of a ...

Abstract: In this paper, we studied planar collisions of balls and cylinders with an emphasis on the coefficient of restitution (COR). We conducted a set of experiments using three types of materials: steel, wood, and rubber. Then, ...