Related papers: Efficient Incremental Potential Contact for Actuat…
Incremental Potential Contact (IPC) enables robust, contact-rich simulation by casting elasticity and contact as a single energy minimization problem, but high-performance IPC pipelines are typically built from specialized kernels and…
In recent years, soft robotics simulators have evolved to offer various functionalities, including the simulation of different material types (e.g., elastic, hyper-elastic) and actuation methods (e.g., pneumatic, cable-driven, servomotor).…
We propose a novel and efficient lifting approach for the optimal control of rigid-body systems with contacts to improve the convergence properties of Newton-type methods. To relax the high nonlinearity, we consider the state, acceleration,…
In this paper, we introduce a novel convex formulation that seamlessly integrates the Material Point Method (MPM) with articulated rigid body dynamics in frictional contact scenarios. We extend the linear corotational hyperelastic model…
We present a novel convex formulation that weakly couples the Material Point Method (MPM) with rigid body dynamics through frictional contact, optimized for efficient GPU parallelization. Our approach features an asynchronous time-splitting…
We report a novel hybrid method of simultaneous atomistic simulation of solids in critical regions (contacts surfaces, cracks areas, etc.), along with continuum modeling of other parts. The continuum is treated in terms of quasi-atoms of…
Tactile perception stands as a critical sensory modality for human interaction with the environment. Among various tactile sensor techniques, optical sensor-based approaches have gained traction, notably for producing high-resolution…
Although extensive research in emergency collision avoidance has been carried out for straight or curved roads in a highway scenario, a general method that could be implemented for all road environments has not been thoroughly explored.…
Contact-implicit trajectory optimization (CITO) has attracted growing attention as a unified framework for planning and control in contact-rich robotic tasks. Recent approaches have demonstrated promising results in manipulation and…
This article's main scope is the presentation of a computational method for the simulation of contact problems within the finite element method involving complex and rough surfaces. The approach relies on the MPJR (eMbedded Profile for…
This paper presents a contact-implicit model predictive control (MPC) framework for the real-time discovery of multi-contact motions, without predefined contact mode sequences or foothold positions. This approach utilizes the…
Despite substantial progress in text-driven 3D human motion synthesis, generating realistic multi-person interaction sequences remains challenging. Notably, body inter-penetration is a pervasive issue from both data acquisition to the…
In the context of developing new vehicle concepts, especially autonomous vehicles with novel seating arrangements and occupant activities, predicting occupant motion can be a tool for ensuring safety and comfort. In this study, a…
We present a GPU-friendly framework for real-time implicit simulation of elastic material in the presence of frictional contacts. The integration of hyperelasticity, non-interpenetration contact, and friction in real-time simulations…
In this paper, we propose a novel unfitted finite element method for the simulation of multiple body contact. The computational mesh is generated independently of the geometry of the interacting solids, which can be arbitrarily complex. The…
Barrier functions are crucial for maintaining an intersection and inversion free simulation trajectory but existing methods which directly use distance can restrict implementation design and performance. We present an approach to rewriting…
The particle-in-cell (PIC) method has been widely used for plasma simulation, because of its noise-reduction capability and moderate computational cost. The immersed finite element (IFE) method is efficient for solving interface problems on…
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…
We present a computational framework for simulating filaments interacting with rigid bodies through contact. Filaments are challenging to simulate due to their codimensionality, i.e., they are one-dimensional structures embedded in…
We propose a novel fast and accurate simulation framework for contact-intensive tight-tolerance robotic assembly tasks. The key components of our framework are as follows: 1) data-driven contact point clustering with a certain…