Related papers: A Fully Implicit Method for Robust Frictional Cont…
Pressure Field Contact (PFC) was recently introduced as a method for detailed modeling of contact interface regions at rates much faster than elasticity-theory models, while at the same time predicting essential trends and capturing rich…
This study proposes novel control methods that lower impact force by preemptive movement and smoothly transition to conventional contact impedance control. These suggested techniques are for force control-based robots and position/velocity…
We present a contact-implicit planning approach that can generate contact-interaction trajectories for non-prehensile manipulation problems without tuning or a tailored initial guess and with high success rates. This is achieved by…
We study the mechanical contact between a deformable body with a wavy surface and a rigid flat taking into account pressurized fluid trapped in the interface. A finite element model is formulated for a general problem of trapped fluid for…
Soft lubricated contacts exhibit complex interfacial behaviours governed by the coupled effects of multiscale surface roughness and non-linear fluid-solid interactions. Accurately capturing this interplay across thin-film flows is…
Projected Inverse Dynamics Control (PIDC) is commonly used in robots subject to contact, especially in quadrupedal systems. Many methods based on such dynamics have been developed for quadrupedal locomotion tasks, and only a few works…
The hybrid nature of multi-contact robotic systems, due to making and breaking contact with the environment, creates significant challenges for high-quality control. Existing model-based methods typically rely on either good prior knowledge…
Robotic manipulation can greatly benefit from the data efficiency, robustness, and predictability of model-based methods if robots can quickly generate models of novel objects they encounter. This is especially difficult when effects like…
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…
Modeling contact between deformable solids is a fundamental problem in computer animation, mechanical design, and robotics. Existing methods based on $C^0$-discretizations -- piece-wise linear or polynomial surfaces -- suffer from…
Robust dynamic interactions are required to move robots in daily environments alongside humans. Optimisation and learning methods have been used to mimic and reproduce human movements. However, they are often not robust and their…
Direct physical guidance is a natural means of teaching and interacting with robots, and robotic skins make a key contribution by enabling sensitive contact sensing and localization. This paper presents a tactile-proprioceptive sensor…
An extension to the interface finite element with eMbedded Profile for Joint Roughness (MPJR interface finite element) is herein proposed for solving the frictional contact problem between a rigid indenter of any complex shape and an…
Accurately modeling contact behaviors for real-world, near-rigid materials remains a grand challenge for existing rigid-body physics simulators. This paper introduces a data-augmented contact model that incorporates analytical solutions…
We develop an efficient reduced basis method for the frictional contact problem formulated using Nitsche's method. We focus on the regime of small deformations and on Tresca friction. The key idea ensuring the computational efficiency of…
We present a principled method for motion prediction via dynamic simulation for rigid bodies in intermittent contact with each other where the contact is assumed to be a planar non-convex contact patch. The planar non-convex contact patch…
We present a consistent approach that allows to solve challenging general nonlinear fluid-structure-contact interaction (FSCI) problems. The underlying continuous formulation includes both "no-slip" fluid-structure interaction as well as…
In most contact-rich manipulation tasks, humans apply time-varying forces to the target object, compensating for inaccuracies in the vision-guided hand trajectory. However, current robot learning algorithms primarily focus on…
The incorporation of appropriate inductive bias plays a critical role in learning dynamics from data. A growing body of work has been exploring ways to enforce energy conservation in the learned dynamics by encoding Lagrangian or…
Robots must make and break contact with the environment to perform useful tasks, but planning and control through contact remains a formidable challenge. In this work, we achieve real-time contact-implicit model predictive control with a…