Related papers: Affine Body Dynamics: Fast, Stable & Intersection-…
In this paper, we study the robust linearization of nonlinear poromechanics of unsaturated materials. The model of interest couples the Richards equation with linear elasticity equations, employing the equivalent pore pressure. In practice…
Soft robots achieve functionality through tight coupling among geometry, material composition, and actuation. As a result, effective design optimization requires these three aspects to be considered jointly rather than in isolation. This…
Being able to reproduce physical phenomena ranging from light interaction to contact mechanics, simulators are becoming increasingly useful in more and more application domains where real-world interaction or labeled data are difficult to…
Probabilistic collision detection (PCD) is essential in motion planning for robots operating in unstructured environments, where considering sensing uncertainty helps prevent damage. Existing PCD methods mainly used simplified geometric…
Model-free control strategies such as reinforcement learning have shown the ability to learn control strategies without requiring an accurate model or simulator of the world. While this is appealing due to the lack of modeling requirements,…
Background The development of a simulation model of full body reaching tasks that can predict endeffector trajectories and joint excursions consistent with experimental data is a non-trivial task. Because of the kinematic redundancy…
This work describes models and numerical approximations that describe the mechanical behavior of deformable continua with embedded structural members, such as rigid bodies, beams, shells, etc. The continuum formulation extends an idea first…
Contact and related phenomena, such as friction, wear or elastohydrodynamic lubrication, remain as one of the most challenging problem classes in nonlinear solid and structural mechanics. In the context of their computational treatment with…
The overarching goal of this work is to develop an accurate, robust, and stable methodology for finite deformation modeling using strong-form peridynamics (PD) and the correspondence modeling framework. We adopt recently developed methods…
Despite the numerous uses of semidefinite programming (SDP) and its universal solvability via interior point methods (IPMs), it is rarely applied to practical large-scale problems. This mainly owes to the computational cost of IPMs that…
We propose a novel neural network approach, LARP (Learned Articulated Rigid body Physics), to model the dynamics of articulated human motion with contact. Our goal is to develop a faster and more convenient methodological alternative to…
The bit-rock interaction considerably affects the dynamics of a drill string. One critical condition is the stick-slip oscillations, where torsional vibrations are high; the bit angular speed varies from zero to about two times (or more)…
In this article we describe a stable partitioned algorithm that overcomes the added mass instability arising in fluid-structure interactions of light rigid bodies and inviscid compressible flow. The new algorithm is stable even for bodies…
Recent work in reinforcement learning has shown that incorporating structural priors for articulated robots, such as link connectivity, into policy networks improves learning efficiency. However, dynamics properties, despite their…
Step-and-project is a popular way to simulate non-penetrated deformable bodies in physically-based animation. First integrating the system in time regardless of contacts and post resolving potential intersections practically strike a good…
Simulation of contact and friction dynamics is an important basis for control- and learning-based algorithms. However, the numerical difficulties of contact interactions pose a challenge for robust and efficient simulators. A…
We discuss the design of state-of-the-art numerical methods for molecular dynamics, focusing on the demands of soft matter simulation, where the purposes include sampling and dynamics calculations both in and out of equilibrium. We discuss…
The design space of dynamic multibody systems (MBSs), particularly those with flexible components, is considerably large. Consequently, having a means to efficiently explore this space and find the optimum solution within a feasible…
Deep learning-based garment draping has emerged as a promising alternative to traditional Physics-Based Simulation (PBS), yet robust collision handling remains a critical bottleneck. Most existing methods enforce physical validity through…
We present a differentiable soft-body physics simulator that can be composed with neural networks as a differentiable layer. In contrast to other differentiable physics approaches that use explicit forward models to define state…