Related papers: Implicit frictional dynamics with soft constraints
Precise identification of dynamic models in robotics is essential to support control design, friction compensation, output torque estimation, etc. A longstanding challenge remains in the identification of friction models for robotic joints,…
Formulating a consistent theory for rigid-body dynamics with impacts is an intricate problem. Twenty years ago Stewart published the first consistent theory with purely inelastic impacts and an impulsive friction model analogous to Coulomb…
Continuum soft robots are inherently underactuated and subject to intrinsic input constraints, making dynamic control particularly challenging, especially in hybrid rigid-soft robots. While most existing methods focus on quasi-static…
The linear-frictional contact model is the most commonly used contact mechanism for discrete element (DEM) simulations of granular materials. Linear springs with a frictional slider are used for modeling interactions in directions normal…
Dry solid friction is often accompanied by force modulations originating from stick-slip instabilities. Here a distinct, quasi-static mechanism is evidenced leading to quasi-periodic force oscillations during sliding contact between an…
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…
The nature of an instability that controls the transition from static to dynamical friction is studied in the the context of an array of frictional disks that are pressed from above on a substrate. In this case the forces are all explicit…
We study the efficiency of sliding locomotion for three-link bodies in the presence of dry (Coulomb) friction. Friction coefficient space can be partitioned into several regions, each with distinct types of efficient kinematics. These…
Acquiring a comprehensive understanding of the interplay between foam friction and surface roughness is essential for achieving precise control over their flow dynamics. In particular, a major challenge is to reduce friction, which can be…
The 2-step staggered (also called leap-frog) time discretisation of linear 2nd-order Hamiltonian systems (typically linear elastodynamics in a stress-velocity form) is extended for a 3-step staggered discretisation applicable for systems…
In this thesis, a non-penetrated and physically consistent non-smooth numerical approach has been proposed, by employing the Prox formulation and Moreau's mid-point time-stepping rule, for the contact dynamics with coupled and decoupled…
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)…
Physics-based simulation is essential for developing and evaluating robot manipulation policies, particularly in scenarios involving deformable objects and complex contact interactions. However, existing simulators often struggle to balance…
We study the dynamic behaviour of 1D spring-block models of friction when the external loading is applied from a side, and not on all blocks like in the classical Burridge-Knopoff-like models. Such a change in the loading yields specific…
This paper presents a new approach to accurately simulating 3D overhead cranes with friction. Although nonlinear friction dynamics has a significant impact on these systems, accurately modeling this phenomenon in simulations is a…
Snakes' bodies are covered in scales that make it easier to slide in some directions than in others. This frictional anisotropy allows for sliding locomotion with an undulatory gait, one of the most common for snakes. Isotropic friction is…
Contact-based motion planning for manipulation, object exploration or balancing often requires finding sequences of fixed and sliding contacts and planning the transition from one contact in the environment to another. However, most…
A general framework for performing event-driven simulations of systems with semi-flexible or rigid bodies interacting under impulsive torques and forces is outlined. Two different approaches are presented. In the first, the dynamics and…
In this work, we introduce a collision model specifically tailored for the simulation of inextensible textiles. The model considers friction, contacts, and inextensibility constraints all at the same time without any decoupling.…
We consider an active-passive mechanical pair in which the relative motion of the latter is constrained by the mechanical impact. The system dynamics is described by the previously introduced modeling frameworks of force transition and…