Collision Models
Anindya Chatterjee anindya@crash.esm.psu.edu
The dynamic stability of passive walking and similar mechanisms may be
governed by dissipative collisions at kneestrike and heelstrike; collisions
are also of great interest in general robotic and dynamic simulaions.
Many mathematical models exist which describe collisions, but they tend
to be either overly simplified or too complicated for analytical work.
Anindya Chatterjee finished his PhD thesis on rigid body
collision laws in August 1996 and is now at Penn State.
Collision Papers
To download collision papers, follow this link.
Return to the Human Power Lab homepage.
ruina@cornell.edu