Contact modeling is the process of mathematically representing and simulating the interactions between surfaces when they come into contact, which is crucial for accurately predicting the behavior of robots during movement. It encompasses factors like friction, deformation, and compliance, allowing for a better understanding of how robots can navigate complex environments without slipping or damaging themselves or their surroundings. This modeling is particularly important in the design and planning stages of legged robots, where precise movements and balance are essential for effective gait planning.
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