Related papers: Resolving Force Indeterminacy in Contact Dynamics …
This paper addresses the problem of computing optimal impedance schedules for legged locomotion tasks involving complex contact interactions. We formulate the problem of impedance regulation as a trade-off between disturbance rejection and…
Novel coordinate descent (CD) methods are proposed for minimizing nonconvex functions consisting of three terms: (i) a continuously differentiable term, (ii) a simple convex term, and (iii) a concave and continuous term. First, by extending…
In this paper, we consider a dynamic viscoelastic contact problem with friction and wear, and describe it as a system of nonlinear partial differential equations. We formulate the previous problem as a hyperbolic quasi-variational…
We present a quasi-static finite element simulator for human face animation. We model the face as an actuated soft body, which can be efficiently simulated using Projective Dynamics (PD). We adopt Incremental Potential Contact (IPC) to…
In this paper we use a deterministic multi-asperity model to investigate the elastic contact of rough spheres. Synthetic rough surfaces with controllable spectra were used to identify individual asperities, their locations and curvatures.…
The computational modeling of many engineering problems using the Finite Element method involves the modeling of two or more bodies that meet through an interface. The interface can be physical, as in multi-physics and contact problems, or…
This work presents a new finite volume framework for solid dynamics based on a momentum-deformation formulation. Building on the C-TOUCH methodology [1], a novel Roe-type Riemann solver is developed to enhance the stability and accuracy of…
Simulation approaches for fluid-structure-contact interaction, especially if requested to be consistent even down to the real contact scenarios, belong to the most challenging and still unsolved problems in computational mechanics. The main…
With the maturation of differentiable physics, its role in various downstream applications: such as model predictive control, robotic design optimization, and neural PDE solvers, has become increasingly important. However, the derivative…
In this paper, we propose an efficient numerical treatment for solving contact problems with friction between deformable bodies. The discretized normal and tangential constraints at the candidate contact interface are expressed by using…
In the paper, a variant of the \ssstar Newton method is developed for the numerical solution of generalized equations, in which the multi-valued part is a so-called SCD (subspace containing derivative) mapping. Under a rather mild…
We study the mechanical contact between a deformable body with a wavy surface and a rigid flat taking into account pressurized fluid trapped in the interface. A finite element model is formulated for a general problem of trapped fluid for…
Dynamic Mode Decomposition (DMD) is an unsupervised machine learning method that has attracted considerable attention in recent years owing to its equation-free structure, ability to easily identify coherent spatio-temporal structures in…
We consider the problem of a rigid body, subject to a unilateral constraint, in the presence of Coulomb friction. We regularize the problem by assuming compliance (with both stiffness and damping) at the point of contact, for a general…
A homogeneous elastic solid, bounded by a flat surface in its unstressed configuration, undergoes a finite strain when in frictionless contact against a rigid and rectilinear constraint, ending with a rounded or sharp corner, in a…
Inverse dynamics is used extensively in robotics and biomechanics applications. In manipulator and legged robots, it can form the basis of an effective nonlinear control strategy by providing a robot with both accurate positional tracking…
Existing beam contact formulations can be categorized in point contact models that consider a discrete contact force at the closest point of the beams, and line contact models that assume distributed contact forces. In this work, it will be…
Real applications in structural mechanics, where the dynamic behavior is linear, are rare. Usually, structures are made of components assembled together by means of joints whose behavior maybe highly nonlinear. Depending on the amount of…
In this paper, we present a principled method to model general planar sliding motion with distributed convex contact patch. The effect of contact patch with indeterminate pressure distribution can be equivalently modeled as the contact…
The settling of cohesive sediment is ubiquitous in aquatic environments. In the settling process, the silt particles show behaviors that are different from non-cohesive particles due to the influence of inter-particle cohesive force. While…