Related papers: A Physics-Based Model Reduction Approach for Node-…
The paper proposes an approach for the efficient model order reduction of dynamic contact problems in linear elasticity. Instead of the augmented Lagrangian method that is widely used for mechanical contact problems, we prefer here the…
Component Mode Synthesis methods, such as the Craig-Bampton (CB) approach, are widely used in structural dynamics due to their modularity and compatibility with substructuring workflows. While highly effective for linear systems, extending…
We present a framework for the simulation of rigid and deformable bodies in the presence of contact and friction. Our method is based on a non-smooth Newton iteration that solves the underlying nonlinear complementarity problems (NCPs)…
Whether rigid or compliant, contact interactions are inherent to robot motions, enabling them to move or manipulate things. Contact interactions result from complex physical phenomena, that can be mathematically cast as Nonlinear…
In this paper, we propose an operator-inference-based reduction approach for contact problems, leveraging snapshots from simulations without active contact. Contact problems are solved using adjoint methods, by switching to the dual system,…
This technical report provides an in-depth evaluation of both established and state-of-the-art methods for simulating constrained rigid multi-body systems with hard-contact dynamics, using formulations of Nonlinear Complementarity Problems…
Based on smoothing techniques, we propose two new methods to solve linear complementarity problems (LCP) called TLCP and Soft-Max. The idea of these two new methods takes inspiration from interior-point methods in optimization. The…
This paper reformulates complementarity-based time-stepping for frictionless nonsmooth contact between smooth rigid bodies as a recursively generated linear complementarity problem (ReLCP), involving a sequence of LCPs of increasing…
To be feasible for computationally intensive applications such as parametric studies, optimization and control design, large-scale finite element analysis requires model order reduction. This is particularly true in nonlinear settings that…
In this paper, elliptic optimal control problems involving the $L^1$-control cost ($L^1$-EOCP) is considered. To numerically discretize $L^1$-EOCP, the standard piecewise linear finite element is employed. However, different from the finite…
This thesis deals with shape optimization for contact mechanics. More specifically, the linear elasticity model is considered under the small deformations hypothesis, and the elastic body is assumed to be in contact (sliding or with Tresca…
Soft robots were introduced in large part to enable safe, adaptive interaction with the environment, and this interaction relies fundamentally on contact. However, modeling and planning contact-rich interactions for soft robots remain…
A novel implementation of the traditional node-to-node Coulomb contact-friction problem is presented that utilizes run-time parameter updates on conventional elasto-plastic elements. The two-noded elements are defined by an independent…
We present a new formulation based on the classical Dirichlet-Neumann formulation for interface coupling problems in linearized elasticity. By using Taylor series expansions, we derive a new set of interface conditions that allow our…
In this paper we propose on continuous level several domain decomposition methods to solve unilateral and ideal multibody contact problems of nonlinear elasticity. We also present theorems about convergence of these methods.
This paper presents a method for the optimization of multi-component structures comprised of two and three materials considering large motion sliding contact and separation along interfaces. The structural geometry is defined by an explicit…
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…
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 work we consider the hybrid Data-Driven Computational Mechanics (DDCM) approach, in which a smooth constitutive manifold is reconstructed to obtain a well-behaved nonlinear optimization problem (NLP) rather than the much harder…
The objective of this work is the development of a novel finite element formulation describing the contact interaction of slender beams in complex 3D configurations involving arbitrary beam-to-beam orientations. It is shown in a…