Related papers: Data-Augmented Contact Model for Rigid Body Simula…
Animating an avatar that reflects a user's action in the VR world enables natural interactions with the virtual environment. It has the potential to allow remote users to communicate and collaborate in a way as if they met in person.…
This paper presents the first kinematic modeling of tendon-driven rolling-contact joint mechanisms with general contact surfaces subject to external loads. We derived the kinematics as a set of recursive equations and developed efficient…
This paper presents Contact Mode Guided Manipulation Planning (CMGMP) for 3D quasistatic and quasidynamic rigid body motion planning in dexterous manipulation. The CMGMP algorithm generates hybrid motion plans including both continuous…
Physical interactive robotics, ranging from wearable devices to collaborative humanoid robots, require close coordination between mechanical design and control. However, evaluating interactive dynamics is challenging due to complex human…
Data-driven methods have become increasingly more prominent for musculoskeletal modelling due to their conceptually intuitive simple and fast implementation. However, the performance of a pre-trained data-driven model using the data from…
We present a fast and feature-complete differentiable physics engine, Nimble (nimblephysics.org), that supports Lagrangian dynamics and hard contact constraints for articulated rigid body simulation. Our differentiable physics engine offers…
Humans use multiple communication channels to interact with each other. For instance, body gestures or facial expressions are commonly used to convey an intent. The use of such non-verbal cues has motivated the development of prediction…
The ability to simulate and predict the outcome of contacts is paramount to the successful execution of many robotic tasks. Simulators are powerful tools for the design of robots and their behaviors, yet the discrepancy between their…
This paper advances an analytical incremental contact model for the purely elastic or elastic-perfectly plastic Gaussian rough surfaces. The contact is modelled by the accumulation of identical circular contacts with radius given by the…
Humanoid robotics has strong potential to transform daily service and caregiving applications. Although recent advances in general motion tracking within physics engines (GMT) have enabled virtual characters and humanoid robots to reproduce…
In this letter, we investigate learning forward dynamics models and multi-step prediction of state variables (long-term prediction) for contact-rich manipulation. The problems are formulated in the context of model-based reinforcement…
In many real-world settings, image observations of freely rotating 3D rigid bodies, such as satellites, may be available when low-dimensional measurements are not. However, the high-dimensionality of image data precludes the use of…
Machines that can predict the effect of physical interactions on the dynamics of previously unseen object instances are important for creating better robots and interactive virtual worlds. In this work, we focus on predicting the dynamics…
Efficient planning of assembly motions is a long standing challenge in the field of robotics that has been primarily tackled with reinforcement learning and sampling-based methods by using extensive physics simulations. This paper proposes…
We consider third-order dynamic systems which have an integral feedback action and discontinuous relay disturbance. More specifically for the applications, the focus is on the integral plus state-feedback control of the motion systems with…
Accurate frictional contact is critical in simulating the assembly of rod-like structures in the practical world, such as knots, hairs, flagella, and more. Due to their high geometric nonlinearity and elasticity, rod-on-rod contact remains…
This paper describes a 2D and 3D simulation engine that quantitatively models the statics, dynamics, and non-linear deformation of heterogeneous soft bodies in a computationally efficient manner. There is a large body of work simulating…
Contact estimation is a key ability for limbed robots, where making and breaking contacts has a direct impact on state estimation and balance control. Existing approaches typically rely on gate-cycle priors or designated contact sensors. We…
This work presents a comprehensive three-dimensional third-medium contact framework for modeling complex contact interactions in hyperelastic solids and pneumatically actuated systems. The proposed third-medium formulation embeds a…
Multimodal simulations augment the presentation of abstract concepts facilitating theoretical models understanding and learning. Most simulations only engage two of our five senses: sight and hearing. If we employ additional sensory…