Related papers: Linear-Time Contact and Friction Dynamics in Maxim…
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 study numerically classical 1-dimensional Hamiltonian lattices involving inter-particle long range interactions that decay with distance like 1/r^alpha, for alpha>=0. We demonstrate that although such systems are generally characterized…
This paper extends the Finite Elements with Switch Detection and Jumps (FESD-J) [1] method to problems of rigid body dynamics involving patch contacts. The FESD-J method is a high accuracy discretization scheme suitable for use in direct…
This paper presents a novel approach using sensitivity analysis for generalizing Differential Dynamic Programming (DDP) to systems characterized by implicit dynamics, such as those modelled via inverse dynamics and variational or implicit…
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…
This work establishes a solution to the problem of assessing the capacity of multi-object assemblies to withstand external forces without becoming unstable. Our physically-grounded approach handles arbitrary structures made from rigid…
The physical interaction of aerial robots with their environment has countless potential applications and is an emerging area with many open challenges. Fully-actuated multirotors have been introduced to tackle some of these challenges.…
This paper utilizes finite Fourier series to represent a time-continuous motion and proposes a novel planning method that adjusts the motion harmonics of each manipulator joint. Primarily, we sum the potential energy for collision detection…
Differentiable simulation enables gradients to be back-propagated through physics simulations. In this way, one can learn the dynamics and properties of a physics system by gradient-based optimization or embed the whole differentiable…
We present a novel algorithm for collision-free kinematics of multiple manipulators in a shared workspace with moving obstacles. Our optimization-based approach simultaneously handles collision-free constraints based on reciprocal velocity…
Generalizable manipulation requires that robots be able to interact with novel objects and environment. This requirement makes manipulation extremely challenging as a robot has to reason about complex frictional interaction with uncertainty…
Mechanical interactions between rigid rings and flexible cables find broad application in both daily life (hanging clothes) and engineering systems (closing a tether-net). A reduced-order method for the dynamic analysis of sliding rings on…
This paper investigates real-time control strategies for dynamical systems that involve frictional contact interactions. Hybridness and underactuation are key characteristics of these systems that complicate the design of feedback…
We introduce a general differentiable solver for time-dependent deformation problems with contact and friction. Our approach uses a finite element discretization with a high-order time integrator coupled with the recently proposed…
We present a principled method for motion prediction via dynamic simulation for rigid bodies in intermittent contact with each other where the contact region is a planar non-convex contact patch. Such methods are useful in planning and…
Aerial manipulation for safe physical interaction with their environments is gaining significant momentum in robotics research. In this paper, we present a disturbance-observer-based safety-critical control for a fully actuated aerial…
Efficient and robust trajectories play a crucial role in contact-rich manipulation, which demands accurate mod- eling of object-robot interactions. Many existing approaches rely on point contact models due to their computational effi-…
For non-robot-programming experts, kinesthetic guiding can be an intuitive input method, as robot programming of in-contact tasks is becoming more prominent. However, imprecise and noisy input signals from human demonstrations pose problems…
In this paper we review the simulation method of the non-smooth contact dynamics. This technique was designed to solve the unilateral and frictional contact problem for a large number of rigid bodies and has proved to be especially valuable…
Rigid body interactions are fundamental to numerous scientific disciplines, but remain challenging to simulate due to their abrupt nonlinear nature and sensitivity to complex, often unknown environmental factors. These challenges call for…