Real-time planning, control, and state estimation play a central role in modern robotics. Many contemporary algorithms rely on accurate models of the dynamics of a robot as well as models of interactions of the robot with its environment. Dynamic frictional interaction between bodies is important to robotic systems undergoing contact, yet has proven to be a challenging phenomenon to model. Challenges include, but are not limited to, non-smooth dynamics (i.e., transitions from absence of contact to sticking/sliding contact), near-impulsive forces with large magnitudes, local deformations (e.g., difficult to predict elastic/plastic indentations), wave propagation through the bodies (e.g., vibrations along rods from impact), sensitivity to initial conditions, and acting friction - a complex phenomenon that emerges from the interactions between microscopic surface asperities - through necessarily coarse models.
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