Experimental Impulse-Momentum-Based Dynamic Simulation for Rigid Bodies with Simultaneous Contacts

In this paper, we propose an experimental impulse-momentum-based approach to make artificially discrete impulses between rigid bodies with multiple contacts. It is impossible for us to sense precisely impulsive waves between such bodies. For this reason, we calibrate each impulsive distribution of encountered bodies by minimizing the differences of their momentum variations in real and virtual dynamic simulations. If number of contact point is one, we can distinguish vertical and horizontal planes at the contact in each local coordinate system. Therefore, an uncertain parameter set (width and height of impulse, and coefficient of restitution) of vertical impulse and the other set (static and kinetic friction coefficients) of horizontal impulse are individually calibrated. However, if the number is more than two, they should be simultaneously calibrated along X, Y, and Z axes of the global (absolute) coordinate system. Furthermore in order to get more precise multiple impulses, we successively calibrate impulse transmission ratios of two or more contacts between three or more bodies. Finally, by comparing artificial and experimental dynamic simulations, we ascertain feasibility of our impulse-momentum-based approach.