Related papers: A priori error for unilateral contact problems wit…

We consider a frictional contact model, mathematically described by means of a nonlinear boundary value problem in terms of PDE. We draw the attention to three possible variational formulations of it. One of the variational formulations is…

In this work, we study a primal hybrid finite element method for the approximation of linear elasticity problems, posed in terms of displacement, an auxiliary pressure field, and a Lagrange multiplier related to the traction. We develop a…

This work focuses on the development of a non-conforming domain decomposition method for the approximation of PDEs based on weakly imposed transmission conditions: the continuity of the global solution is enforced by a discrete number of…

State estimation for legged robots remains challenging because legged odometry generally suffers from limited observability and therefore depends critically on measurement constraints to suppress drift. When exteroceptive sensors are…

In this work we consider (hierarchical, Lagrange) reduced basis approximation and a posteriori error estimation for elasticity problems in affinley parametrized geometries. The essential ingredients of the methodology are: a Galerkin…

In the frame of isogeometric analysis, we consider a Galerkin boundary element discretization of the hyper-singular integral equation associated with the 2D Laplacian. We propose and analyze an adaptive algorithm which locally refines the…

Engineering design via CAD software relies on Non-Uniform Rational B-Splines (NURBS) as a means for representing and communicating geometry. Therefore, in general, a NURBS description of a given design can be considered the exact…

Many physical problems involving heterogeneous spatial scales, such as the flow through fractured porous media, the study of fiber-reinforced materials, or the modeling of the small circulation in living tissues -- just to mention a few…

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…

Two mathematical models are developed within the theoretical framework of large strain elasticity for the determination of upper and lower bounds on the total strain energy of a finitely deformed hyperelastic body in unilateral contact with…

We propose and investigate new robust preconditioners for space-time Isogeometric Analysis of parabolic evolution problems. These preconditioners are based on a time parallel multigrid method. We consider a decomposition of the space-time…

The paper presents the Isogeometric Boundary Element Method (IGABEM) algorithm for solving the plane strain problem of an isotropic linearly elastic matrix containing an open material surface of arbitrary shape. Theoretical developments are…

We present a differentiable formulation of rigid-body contact dynamics for objects and robots represented as compositions of convex primitives. Existing optimization-based approaches simulating contact between convex primitives rely on a…

Planning contact interactions is one of the core challenges of many robotic tasks. Optimizing contact locations while taking dynamics into account is computationally costly and, in environments that are only partially observable, executing…

We present a strongly-coupled immersed-boundary method for flow-structure interaction problems involving thin deforming bodies. The method is stable for arbitrary choices of solid-to-fluid mass ratios and for large body motions. As with…

In this work, we consider pressurized phase-field fracture problems in nearly and fully incompressible materials. To this end, a mixed form for the solid equations is proposed. To enhance the accuracy of the spatial discretization, a…

This work introduces a contact interaction methodology for an unbiased treatment of contacting surfaces without assigning surfaces as master and slave. The contact tractions between interacting discrete segments are evaluated with respect…

This paper presents a novel approach for representing proprioceptive time-series data from quadruped robots as structured two-dimensional images, enabling the use of convolutional neural networks for learning locomotion-related tasks. The…

In this paper, we propose an inexact Augmented Lagrangian Method (ALM) for the optimization of convex and nonsmooth objective functions subject to linear equality constraints and box constraints where errors are due to fixed-point data. To…

Uncertain dynamic obstacles, such as pedestrians or vehicles, pose a major challenge for optimal robot navigation with safety guarantees. Previous work on motion planning has followed two main strategies to provide a safe bound on an…