A novel contact model is presented which includes normal contact force and damping, rolling resistance torque and tangential friction force. This model is appropriate for the simulation of robotic tasks involving contact between objects of any shapes, occurring at relatively low velocities. It features a contact stiffness proportional to the contact area and leads automatically to the correct selection of the point of action of the force. The contact force magnitude is shown to be proportional to the interpenetration volume. A numerical simulation of a sphere impacting on the inside surface of a cylinder is presented.
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Gonthier et al. (2005) studied this question.