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A Study of Soft Contact Models in Simulink

Taghipour Bibalan, Pouyan; Featherstone, Roy


This paper investigates the use of different soft contact and friction models, in Simulink, in the context of legged locomotion. The main criterion for assessing the models is the number of integration steps that are taken using variable step integration

CollectionsANU Research Publications
Date published: 2009
Type: Conference paper
Source: Proceedings of ACRA 2009


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