Related papers: Rigid Body Dynamic Simulation with Line and Surfac…
We develop a real-time state estimation system to recover the pose and contact formation of an object relative to its environment. In this paper, we focus on the application of inserting an object picked by a suction cup into a tight space,…
Applications from manipulation to autonomous vehicles rely on robust and general object tracking to safely perform tasks in dynamic environments. We propose the first certifiably optimal category-level approach for simultaneous shape…
Understanding contact between rough surfaces undergoing plastic deformation is crucial in many applications. We test Persson's multiscale contact mechanics theory for elastoplastic solids, assuming a constant penetration hardness. Using a…
Human kinematics is of fundamental importance for rehabilitation and assistive robotic systems that physically interact with human. The wrist plays an essential role for dexterous human-robot interaction, but its conventional kinematic…
In this paper, we study, from both variational and numerical points of view, a dynamic contact problem between a viscoelastic-viscoplastic piezoelectric body and a deformable obstacle. The contact is modelled using the classical normal…
This paper presents a novel contact-implicit trajectory optimization method using an analytically solvable contact model to enable planning of interactions with hard, soft, and slippery environments. Specifically, we propose a novel contact…
This work proposes a novel model and numerical formulation for lubricated contact problems describing the mutual interaction between two deformable 3D solid bodies and an interposed fluid film. The solid bodies are consistently described…
We study the problem of learning physical object representations for robot manipulation. Understanding object physics is critical for successful object manipulation, but also challenging because physical object properties can rarely be…
In this paper, we analyze the effects of contact models on contact-implicit trajectory optimization for manipulation. We consider three different approaches: (1) a contact model that is based on complementarity constraints, (2) a smooth…
This paper presents a novel implicit scheme for the constraint resolution in real-time finite element simulations in the presence of contact and friction. Instead of using the standard motion correction scheme, we propose an iterative…
We propose an accurate and energy-stable parametric finite element method for solving the sharp-interface continuum model of solid-state dewetting in three-dimensional space. The model describes the motion of the film\slash vapor interface…
We present efficient reduced basis (RB) methods for the simulation of the coupled problem consisting of a rigid robot hand interacting with soft tissue material which is modeled by the linear elasticity equation and discretized with the…
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…
In an effort to study the stability of contact lines in fluids, we consider the dynamics of an incompressible viscous Stokes fluid evolving in a two-dimensional open-top vessel under the influence of gravity. This is a free boundary…
Damping of structures and systems is often dominated by frictional dissipation in connections, the prediction of which remains a longstanding scientific challenge. Previous studies have shown that the actual topography of contact interfaces…
We investigate the moving contact line problem for two-phase incompressible flows with a kinematic approach. The key idea is to derive an evolution equation for the contact angle in terms of the transporting velocity field. It turns out…
We introduce an Eulerian approach for problems involving one or more soft solids immersed in a fluid, which permits mechanical interactions between all phases. The reference map variable is exploited to simulate finite-deformation…
Physical human-robot interaction has been an area of interest for decades. Collaborative tasks, such as joint compliance, demand high-quality joint torque sensing. While external torque sensors are reliable, they come with the drawbacks of…
Collision detection is a core component of robotics applications such as simulation, control, and planning. Traditional algorithms like GJK+EPA compute witness points (i.e., the closest or deepest-penetration pairs between two objects) but…
Simulating stiff materials in applications where deformations are either not significant or can safely be ignored is a pivotal task across fields. Rigid body modeling has thus long remained a fundamental tool and is, by far, the most…