Related papers: Non-Smooth Newton Methods for Deformable Multi-Bod…
Previous humanoid robot research works treat the robot as a bipedal mobile manipulation platform, where only the feet and hands contact the environment. However, we humans use all body parts to interact with the world, e.g., we sit in…
Continuum parallel robots (CPR) combine rigid actuation mechanisms with multiple elastic rods in a closed-loop topology, making forward statics challenging when rigid--continuum junctions are enforced by explicit kinematic constraints. Such…
We study a mathematical model for deformation of glued elastic bodies in 2D or 3D, which is a linear elasticity system with adhesive force on the glued surface. We reveal a variational structure of the model and prove the unique existence…
This paper studies the mismatch removal problem, which may serve as the subsequent step of feature matching. Non-rigid deformation makes it difficult to remove mismatches because no parametric transformation can be found. To solve this…
We outline a 2D algorithm for solving incompressible flow--structure interaction problems for mixed rigid/soft body representations, within a consistent framework based on the remeshed vortex method. We adopt the one--continuum formulation…
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…
A significant barrier preventing model-based methods from achieving real-time and versatile dexterous robotic manipulation is the inherent complexity of multi-contact dynamics. Traditionally formulated as complementarity models,…
Current trends in the computer graphics community propose leveraging the massive parallel computational power of GPUs to accelerate physically based simulations. Collision detection and solving is a fundamental part of this process. It is…
Soft lubricated contacts exhibit complex interfacial behaviours governed by the coupled effects of multiscale surface roughness and non-linear fluid-solid interactions. Accurately capturing this interplay across thin-film flows is…
Non-Rigid Structure-from-Motion (NRSfM) problem aims to recover 3D geometry of a deforming object from its 2D feature correspondences across multiple frames. Classical approaches to this problem assume a small number of feature points and,…
The multi-contact nonlinear complementarity problem (NCP) is a naturally arising challenge in robotic simulations. Achieving high performance in terms of both accuracy and efficiency remains a significant challenge, particularly in…
In this paper, it is the first time to construct a complete post-Newtonian (PN) model of a rigid body by means of a new constraint on the mass current density and mass density. In our PN rigid body model most of relations, such as spin…
Compression of soft bodies is central to biology, materials science, and robotics, yet existing contact theories break down at large deformations. Here, we develop a general framework for soft-body compression by extending the method of…
We present a Total Lagrangian finite element framework for finite-deformation multibody dynamics. The framework combines a compact kinematic representation, a deformation-gradient-based formulation, an element-agnostic constitutive…
We present a parallel-scalable method for simulating non-dilute suspensions of deformable particles immersed in Stokesian fluid in three dimensions. A critical component in these simulations is robust and accurate collision handling. This…
This work proposes a model-reduction approach for the material point method on nonlinear manifolds. Our technique approximates the $\textit{kinematics}$ by approximating the deformation map using an implicit neural representation that…
This work blends the inexact Newton method with iterative combined approximations (ICA) for solving topology optimization problems under the assumption of geometric nonlinearity. The density-based problem formulation is solved using a…
Commonly used linear and nonlinear constitutive material models in deformation simulation contain many simplifications and only cover a tiny part of possible material behavior. In this work we propose a framework for learning customized…
Recent advances in deep learning have allowed neural networks (NNs) to successfully replace traditional numerical solvers in many applications, thus enabling impressive computing gains. One such application is time domain simulation, which…
Accurately handling contact with friction remains a core bottleneck for Material Point Method (MPM), from reliable contact point detection to enforcing frictional contact laws (non-penetration, Coulomb friction, and maximum dissipation…