Section: New Results

Analysis of compliant nonlinear contact models

Participants : Bernard Brogliato, Guillaume James, Alexandre Vieira.

The master thesis of A. Vieira consisted of the study of suitable numerical method for compliant contact/impact models like the Simon-Hunt-Crossley and the Kuwabara-Kono models. These two models extend Hertz' contact by adding a dissipative force that takes the form of nonlinear viscous friction (nonlinear spring/dashpot). The fact that the Kuwabara-Kono dissipation is non-Lipschtiz requires particular care.