Related papers: A Convex Polynomial Force-Motion Model for Planar …
We present a simple model for the friction of two solid bodies moving against each other. In a self consistent way we can obtain the dependence of the macroscopic friction force as a function of the driving velocity, the normal force and…
Model generalization of the underlying dynamics is critical for achieving data efficiency when learning for robot control. This paper proposes a novel approach for learning dynamics leveraging the symmetry in the underlying robotic system,…
In this paper we study the convex problem of optimizing the sum of a smooth function and a compactly supported non-smooth term with a specific separable form. We analyze the block version of the generalized conditional gradient method when…
Frictional sliding contact in hydrodynamic environments can be found in a range of engineering applications. Accurate modeling requires an integrated numerical framework capable of resolving large relative motions, multiphase interactions,…
A spatially continuous force-based model for simulating pedestrian dynamics is introduced which includes an elliptical volume exclusion of pedestrians. We discuss the phenomena of oscillations and overlapping which occur for certain choices…
The nonlinear dynamics associated with sliding friction forms a broad interdisciplinary research field that involves complex dynamical processes and patterns covering a broad range of time and length scales. Progress in experimental…
The recent development of novel aerial vehicles capable of physically interacting with the environment leads to new applications such as contact-based inspection. These tasks require the robotic system to exchange forces with…
We propose an elasto-plastic inspired friction model which incorporates interfacial stiffness. Steady state sliding friction is characterized by a generic nonmonotonic behavior, including both velocity weakening and strengthening branches.…
In this work, we develop a modelling framework for granular flows based on the shallow water moment equations on inclined planes. Under the assumption of a polynomial expansion of the velocity field, the model extends the classical shallow…
Accurately modeling friction in robotics remains a core challenge, as robotics simulators like MuJoCo and PyBullet use simplified friction models or heuristics to balance computational efficiency with accuracy, where these simplifications…
Contact-based motion planning for manipulation, object exploration or balancing often requires finding sequences of fixed and sliding contacts and planning the transition from one contact in the environment to another. However, most…
We study some methods of subgradient projections for solving a convex feasibility problem with general (not necessarily hyperplanes or half-spaces) convex sets in the inconsistent case and propose a strategy that controls the relaxation…
This paper reports a novel result: with proper robot models on matrix Lie groups, one can formulate the kinodynamic motion planning problem for rigid body systems as \emph{exact} polynomial optimization problems that can be relaxed as…
We analyze the frictionless motion of a point-like particle that slides under gravity on an inverted conical surface. This motion is studied for arbitrary initial conditions and a general relation, valid within 13%, between the periods of…
Stochastic gradient descent with momentum (SGDM) methods have become fundamental optimization tools in machine learning, combining the computational efficiency of stochastic gradients with the acceleration benefits of momentum. Despite…
We propose a new stochastic gradient method for optimizing the sum of a finite set of smooth functions, where the sum is strongly convex. While standard stochastic gradient methods converge at sublinear rates for this problem, the proposed…
A two-dimensional \underline{Frenkel-Kontorova model} under a steady external force is used to study the nonlinear sliding friction between flat macroscopic surfaces with a lubricant layer in between. The nonequilibrium properties of the…
The realization space of geometric constraint systems is given by the vanishing locus of polynomials corresponding to natural geometric constraints. Such geometric constraint systems arise in many real-world scenarios such as structural…
We present a novel method for global motion planning of robotic systems that interact with the environment through contacts. Our method directly handles the hybrid nature of such tasks using tools from convex optimization. We formulate the…
The suppression of friction between sliding objects, modulated or enhanced by mechanical vibrations, is well established. However, the precise conditions of occurrence of these phenomena is not well understood. Here we address these…