Related papers: Rigid Body Dynamic Simulation with Line and Surfac…
Differentiable physics simulation provides an avenue to tackle previously intractable challenges through gradient-based optimization, thereby greatly improving the efficiency of solving robotics-related problems. To apply differentiable…
We outline a phenomenological model to assess friction at the interface between two bodies in mutual contact. Although the approach is general, the application inspiring the approach is the Discrete Element Method. The kinematics of the…
Common methods for learning robot dynamics assume motion is continuous, causing unrealistic model predictions for systems undergoing discontinuous impact and stiction behavior. In this work, we resolve this conflict with a smooth, implicit…
Nonprehensile manipulation is essential for manipulating objects that are too thin, large, or otherwise ungraspable in the wild. To sidestep the difficulty of contact modeling in conventional modeling-based approaches, reinforcement…
Robotic manipulation in unstructured environments requires planners to reason jointly about free-space motion and sustained, frictional contact with the environment. Existing (local) planning and simulation frameworks typically separate…
We propose a novel fast and accurate simulation framework for contact-intensive tight-tolerance robotic assembly tasks. The key components of our framework are as follows: 1) data-driven contact point clustering with a certain…
Generating intelligent robot behavior in contact-rich settings is a research problem where zeroth-order methods currently prevail. A major contributor to the success of such methods is their robustness in the face of non-smooth and…
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…
A general framework for performing event-driven simulations of systems with semi-flexible or rigid bodies interacting under impulsive torques and forces is outlined. Two different approaches are presented. In the first, the dynamics and…
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…
Deformable object manipulation is a classical and challenging research area in robotics. Compared with rigid object manipulation, this problem is more complex due to the deformation properties including elastic, plastic, and elastoplastic…
We propose an efficient numerical method for the simulation of multi-phase flows with moving contact lines in three dimensions. The mathematical model consists of the incompressible Navier-Stokes equations for the two immiscible fluids with…
We present Jade, a differentiable physics engine for articulated rigid bodies. Jade models contacts as the Linear Complementarity Problem (LCP). Compared to existing differentiable simulations, Jade offers features including…
Differentiable physics is a powerful tool in computer vision and robotics for scene understanding and reasoning about interactions. Existing approaches have frequently been limited to objects with simple shape or shapes that are known in…
In this paper, we study an interaction problem between a $3D$ compressible viscous fluid and a $3D$ nonlinear viscoelastic solid fully immersed in the fluid, coupled together on the interface surface. The solid is allowed to have…
In recent years, soft robotics simulators have evolved to offer various functionalities, including the simulation of different material types (e.g., elastic, hyper-elastic) and actuation methods (e.g., pneumatic, cable-driven, servomotor).…
Direct physical guidance is a natural means of teaching and interacting with robots, and robotic skins make a key contribution by enabling sensitive contact sensing and localization. This paper presents a tactile-proprioceptive sensor…
We present a collision model for phase-resolved Direct Numerical Simulations of sediment transport that couple the fluid and particles by the Immersed Boundary Method. Typically, a contact model for these types of simulations comprises a…
A novel Material Point Method (MPM) is introduced for addressing frictional contact problems. In contrast to the standard multi-velocity field approach, this method employs a penalty method to evaluate contact forces at the discretised…
Robotic manipulation and locomotion often entail nearly-simultaneous collisions -- such as heel and toe strikes during a foot step -- with outcomes that are extremely sensitive to the order in which impacts occur. Robotic simulators…