Rigid-Body Dynamics with Friction and Impact

Abstract : Rigid-body dynamics with unilateral contact is a good approximation for a wide range of everyday phenomena, from the operation of car brakes to walking to rock slides. It is also of vital importance for simulating robots, virtual reality, and realistic animation. However, correctly modeling rigid-body dynamics with friction is difficult due to a number of dis-continuities in the behavior of rigid bodies and the discontinuities inherent in the Coulomb friction law. This is particularly crucial for handling situations with large coefficients of friction, which can result in paradoxical results known at least since Painlevé [C. R. Acad. Sci. Paris, 121 (1895), pp. 112–115]. This single example has been a counterexample and cause of controversy ever since, and only recently have there been rigorous mathematical results that show the existence of solutions to his example. The new mathematical developments in rigid-body dynamics have come from several sources: " sweeping processes " and the measure differential inclusions of Moreau in the 1970s and 1980s, the variational inequality approaches of Duvaut and J.-L. Lions in the 1970s, and the use of complementarity problems to formulate frictional contact problems by Lötstedt in the early 1980s. However, it wasn't until much more recently that these tools were finally able to produce rigorous results about rigid-body dynamics with Coulomb friction and impulses.
Complete list of metadatas

Cited literature [134 references]  Display  Hide  Download

Contributor : Mathias Legrand <>
Submitted on : Monday, July 31, 2017 - 9:31:52 AM
Last modification on : Monday, July 16, 2018 - 6:36:03 PM


Files produced by the author(s)


Distributed under a Creative Commons Attribution 4.0 International License




David E. Stewart. Rigid-Body Dynamics with Friction and Impact. SIAM Review, Society for Industrial and Applied Mathematics, 2000, 42 (1), pp.3-39. ⟨10.1137/S0036144599360110⟩. ⟨hal-01570533⟩



Record views


Files downloads