Related papers: Three-dimensional multi-mesh material point method…
We present an efficient algorithm to recover the three dimensional structure of a protein from its contact map representation. First we show that when a physically realizable map is used as target, our method generates a structure whose…
We outline a phenomenological model to assess friction at the interface between two bodies in mutual contact. Although the approach is general, the application inspiring the approach is the Discrete Element Method. The kinematics of the…
We present a differentiable dynamics solver that is able to handle frictional contact for rigid and deformable objects within a unified framework. Through a principled mollification of normal and tangential contact forces, our method…
Simulation of contact and friction dynamics is an important basis for control- and learning-based algorithms. However, the numerical difficulties of contact interactions pose a challenge for robust and efficient simulators. A…
Retrieving rich contact information from robotic tactile sensing has been a challenging, yet significant task for the effective perception of object properties that the robot interacts with. This work is dedicated to developing an algorithm…
This paper presents a simple yet powerful method for 3D human mesh reconstruction from a single RGB image. Most recently, the non-local interactions of the whole mesh vertices have been effectively estimated in the transformer while the…
Modeling contact mechanics with high contrast coefficients presents significant mathematical and computational challenges, especially in achieving strongly symmetric stress approximations for mixed formulations. Due to the inherent…
This paper presents a novel method for the reconstruction of interaction vertices in particle collision data. The algorithm is an agglomerative clustering technique designed for high-luminosity environments in current and future…
Reconstructing 3D human-object interaction (HOI) from single-view RGB images is challenging due to the absence of depth information and potential occlusions. Existing methods simply predict the body poses merely rely on network training on…
With the increasing demand for the accuracy of numerical simulation of pavement mechanics, the variational inequality model and its induced finite element method which can simulate the interlayer contact state becomes a potential solution.…
Generating intelligent robot behavior in contact-rich settings is a research problem where zeroth-order methods currently prevail. A major contributor to the success of such methods is their robustness in the face of non-smooth and…
This paper introduces BFEMP, a new approach for monolithically coupling the Material Point Method (MPM) with the Finite Element Method (FEM) through barrier energy-based particle-mesh frictional contact using a variational time-stepping…
Capturing the interaction between objects that have an extreme difference in Young s modulus or geometrical scale is a highly challenging topic for numerical simulation. One of the fundamental questions is how to build an accurate…
A highly accurate, single-pass, unbiased frictional contact algorithm for higher-order elements based on the concept of midplane is presented. Higher-order elements offer a lucrative choice for contact problems as they can better represent…
We present a computational framework for simulating filaments interacting with rigid bodies through contact. Filaments are challenging to simulate due to their codimensionality, i.e., they are one-dimensional structures embedded in…
The friction and adhesion between elastic bodies are strongly influenced by the roughness of the surfaces in contact. Here we develop a multiscale molecular dynamics approach to contact mechanics, which can be used also when the surfaces…
This paper addresses the problem of friction-free contact between two elastic bodies. We develop an augmented Lagrangian method that provides computational convenience by reformulating the contact problem as a nonlinear variational…
Finite element simulations of frictional multi-body contact problems via conformal meshes can be challenging and computationally demanding. To render geometrical features, unstructured meshes must be used and this unavoidably increases the…
In this paper, we propose an algorithm that estimates contact point and force simultaneously. We consider a collaborative robot equipped with proprioceptive sensors, in particular, joint torque sensors (JTSs) and a base force/torque (F/T)…
We present a novel convex formulation that weakly couples the Material Point Method (MPM) with rigid body dynamics through frictional contact, optimized for efficient GPU parallelization. Our approach features an asynchronous time-splitting…