Related papers: A novel collision model for inextensible textiles …

This paper represents a sequel to the previous one, where numerical solution of a quasistatic contact problem is considered for an elastic body in frictional contact with a moving foundation. The model takes into account wear of the contact…

The fundamental problem of friction in the presence of macroscopic adhesion, as in soft bodies, is receiving interest from many experimentalists. Since the first fracture mechanics `purely brittle' model of Savkoor and Briggs, models have…

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…

The collision avoidance constraints are prominent as non-convex, non-differentiable, and challenging when defined in optimization-based motion planning problems. To overcome these issues, this paper presents a novel non-conservative…

We propose a method to estimate the mechanical parameters of fabrics using a casual capture setup with a depth camera. Our approach enables to create mechanically-correct digital representations of real-world textile materials, which is a…

The accuracy obtained with CFD and process simulations of flotation critically depends on the quality and robustness of the underlying models for the non-resolved sub-processes. An important issue in flotation is the collision between…

Robotic manipulation research has investigated contact-rich problems and strategies that require robots to intentionally collide with their environment, to accomplish tasks that cannot be handled by traditional collision-free solutions. By…

Recent research in pedestrian simulation often aims to develop realistic behaviors in various situations, but it is challenging for existing algorithms to generate behaviors that identify weaknesses in automated vehicles' performance in…

In this context, a major focus of this thesis is on unintentional collisions, where a straight goal is to eliminate injury from users and passerby's via realtime sensing and control systems. A less obvious focus is to combine collision…

In this work, we developed a bond-based cohesive peridynamics model (CPDM) and apply it to simulate inelastic fracture by using the meso-scale Xu-Needleman cohesive potential . By doing so, we have successfully developed a bond-based…

Curved elastic shells can be fabricated through molding or by harnessing residual stresses. These shells often exhibit snap-through behavior and multistability when loaded. We present a unique way of fabricating curved elastic shells that…

For many of the physical phenomena around us, we have developed sophisticated models explaining their behavior. Nevertheless, measuring physical properties from visual observations is challenging due to the high number of causally…

We have recently proposed an efficient computation method for the frictionless linear elastic axisymmetric contact of coated bodies [A. Perriot and E. Barthel, J. Mat. Res. 19 (2004) 600]. Here we give a brief description of the approach.…

Learning-based approaches to cloth simulation have started to show their potential in recent years. However, handling collisions and intersections in neural simulations remains a largely unsolved problem. In this work, we present…

Trajectory planning in dense, interactive traffic scenarios presents significant challenges for autonomous vehicles, primarily due to the uncertainty of human driver behavior and the non-convex nature of collision avoidance constraints.…

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…

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…

We present Jade, a differentiable physics engine for articulated rigid bodies. Jade models contacts as the Linear Complementarity Problem (LCP). Compared to existing differentiable simulations, Jade offers features including…

Human activity recognition has become an attractive research area with the development of on-body wearable sensing technology. With comfortable electronic-textiles, sensors can be embedded into clothing so that it is possible to record…

This paper introduces a new technique for learning probabilistic models of mass and friction distributions of unknown objects, and performing robust sliding actions by using the learned models. The proposed method is executed in two…