Related papers: An Efficient Contact Algorithm for Rigid/Deformabl…
Impact simulations for damage resistance analysis are computationally intensive due to contact algorithms and advanced damage models. Both methods, which are the main ingredients in an impact event, require refined meshes at the contact…
Design optimization problems, e.g., shape optimization, that involve deformable bodies in unilateral contact are challenging as they require robust contact solvers, complex optimization methods that are typically gradient-based, and…
Planning contact interactions is one of the core challenges of many robotic tasks. Optimizing contact locations while taking dynamics into account is computationally costly and, in environments that are only partially observable, executing…
The recently developed generalized Fourier-Galerkin method is complemented by a numerical continuation with respect to the kinetic energy, which extends the framework to the investigation of modal interactions resulting in folds of the…
In this article, a new unified duality theory is developed for Petrov-Galerkin finite element methods. This novel theory is then used to motivate goal-oriented adaptive mesh refinement strategies for use with discontinuous Petrov-Galerkin…
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…
Contact modeling plays a central role in motion planning, simulation, and control of legged robots, as legged locomotion is realized through contact. The two prevailing approaches to model the contact consider rigid and compliant premise at…
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…
Linear reduced-order modeling (ROM) is widely used for efficient simulation of deformation dynamics, but its accuracy is often limited by the fixed linearization of the reduced mapping. We propose a new adaptive strategy for linear ROM that…
In this work we propose and analyze a novel Hybrid High-Order discretization of a class of (linear and) nonlinear elasticity models in the small deformation regime which are of common use in solid mechanics. The proposed method is valid in…
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…
Contact planning is crucial in locomoting systems.Specifically, appropriate contact planning can enable versatile behaviors (e.g., sidewinding in limbless locomotors) and facilitate speed-dependent gait transitions (e.g., walk-trot-gallop…
An efficient method is presented for solving axisymmetric, frictionless contact problems between a rigid punch and an elastically non-homogeneous, power-law graded half-space. Provided that the contact area is simply-connected profiles of…
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…
In this paper, we presented a new method for deformation control of deformable objects, which utilizes both visual and tactile feedback. At present, manipulation of deformable objects is basically formulated by assuming positional…
Previous study of contact of power-law graded materials concerned the contact of a rigid body (punch) with an elastic inhomogeneous foundation whose inhomogeneity is characterized by the Young modulus varying with depth as a power function.…
We formulate a new projection-based reduced-ordered modeling technique for non-linear dynamical systems. The proposed technique, which we refer to as the Adjoint Petrov-Galerkin (APG) method, is derived by decomposing the generalized…
In three-dimensional discrete element method (DEM) simulations, the particle motions within a granular assembly can produce bewildering sequences of movements at the contacts between particle pairs. With frictional contacts, the…
The growing availability of computational resources has significantly increased the interest of the scientific community in performing complex multi-physics and multi-domain simulations. However, the generation of appropriate computational…
We present contact radius and curvature corrections to the nonlocal contact formulation that take into account multi-particle interactions in elastic confined granular systems. The nonlocal contact formulation removes the classical…