Posts in Preprint
Modeling and Analysis of Non-unique Behaviors in Multiple Frictional Impacts

Almost every model of contact for robotics has some issue with predicting behaviors when multiple frictional collisions occur simultaneously between rigid bodies—either as a lack of proven existence of solutions or lack of ability to capture the non-unique behaviors observable in simplest of real-world systems. We derive and characterize what we believe to be the only model of simultaneous frictional impact that resolves both of these issues.

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