Multibody Dynamics: Computational Methods and Applications

Preface, by Josep M. Font-Llagunes.- Numerical integrationof underactuated mechanical systems subjected to mixed holonomic and servoconstraints, by Peter Betsch, Robert Altmann, Yinping Yang.- Enhancing thePerformance of the DCA When Forming and Solving the Equations of Motion forMultibody Systems, by Jeremy J. Laflin, Kurt S. Anderson, Mike Hans.- Three-DimensionalNon-linear Shell Theory for Flexible Multibody Dynamics, by Shilei Han andOlivier A. Bauchau.- On the Frictional Contacts in Multibody System Dynamics,by Filipe Marques, Paulo Flores, Hamid M. Lankarani.- Modeling and simulationof a 3D printer based on a SCARA mechanism, by Eduardo Paiva Okabe andPierangelo Masarati.- Structure Preserving Optimal Control of a Three-DimensionalUpright Gait, by Michael W. Koch and Sigrid Leyendecker.- Robotran-YARPinterface: a framework for real-time controller developments based on multibodydynamics simulations, by Timothée Habra, Houman Dallali, Alberto Cardellino, LorenzoNatale, Nikolaos Tsagarakis, Paul Fisette and Renaud Ronsse.- Wheel-Groundmodeling in planetary exploration: From unified simulation frameworks towards heterogeneous,multi-tier wheel ground contact simulation, by Roy Lichtenheldt, StefanBarthelmes, Fabian Buse, Matthias Hellerer.- Intervention-Autonomous UnderwaterVehicle multibody models for dynamic manipulation tasks, by R. Conti, R.Costanzi, F. Fanelli, E. Meli, A. Ridolfi and B. Allotta.- Development of a MusculotendonModel within the Framework of Multibody Systems Dynamics, by Ana R. Oliveira,Sérgio B. Gonçalves, Mamede de Carvalho, Miguel T. Silva.- Numerical andExperimental Study on Contact Force Fluctuation between Wheel and RailConsidering Rail Flexibility and Track Conditions, by Saki Ienaga, Yoshiaki Terumichi,Kazuhiko Nishimura, Minoru Nishina.- Use of Flexible Modelsin Extended Kalman Filtering Applied to Vehicle Body Force Estimation, by Sebastiaanvan Aalst, Frank Naets, Johan Theunissen and Wim Desmet.- Design and Control ofan Energy-Saving Robot Using Storage Elements and Reaction Wheels, by MakotoIwamura, Shunichi Imafuku, Takahiro Kawamoto and Werner Schiehlen.- Exploiting the equations of motion for bipedrobot control with enhanced stability, by Johannes Mayr, Alexander Reiter,Hubert Gattringer, Andreas Müller.