Related papers: Geometric Contact Potential
A framework for performing event-driven, adaptive time step simulations of systems of rigid bodies interacting under stepped or terraced potentials in which the potential energy is only allowed to have discrete values is outlined. The…
Using results from colloid science we derive interaction potentials for computer simulations of mixtures of soft or hard ellipsoids of arbitrary shape and size. Our results are in many respects reminicent of potentials of the Gay-Berne type…
The paper focuses on synthesizing optimal contact curves that can be used to ensure a rolling constraint between two bodies in relative motion. We show that geodesic based contact curves generated on both the contacting surfaces are…
The current dominant paradigm for robotic manipulation involves two separate stages: manipulator design and control. Because the robot's morphology and how it can be controlled are intimately linked, joint optimization of design and control…
Understanding contact between rough surfaces undergoing plastic deformation is crucial in many applications. We test Persson's multiscale contact mechanics theory for elastoplastic solids, assuming a constant penetration hardness. Using a…
In this paper, we present an approach for generating a variety of whole-body motions for a humanoid robot. We extend the available Model Predictive Control (MPC) approaches for walking on flat terrain to plan for both vertical motion of the…
Geometric modeling by constraints, whose applications are of interest to communities from various fields such as mechanical engineering, computer aided design, symbolic computation or molecular chemistry, is now integrated into standard…
This work presents an Iterative Constraint Energy Minimizing Generalized Multiscale Finite Element Method (ICEM-GMsFEM) for solving the contact problem with high contrast coefficients. The model problem can be characterized by a variational…
We propose a frictionless contact formulation for isogeometric analysis, which combines a collocated formulation for the contact surfaces with a standard Galerkin treatment of the bulk. We denote it as isogeometric Collocated Contact…
Glovebox decommissioning tasks usually require manipulating relatively heavy objects in a highly constrained environment. Thus, contact with the surroundings becomes inevitable. In order to allow the robot to interact with the environment…
An important problem in geometric reasoning is to find the configuration of a collection of geometric bodies so as to satisfy a set of given constraints. Recently, it has been suggested that this problem can be solved efficiently by…
When the effects of relative motion at the solid object interfaces are not negligible, the contact method is required in the smoothed particle hydrodynamics (SPH) method to prevent virtual shear and tensile stresses. However, there is still…
We consider the identification of a scalar coefficient in a PDE-based parameter estimation problem with contact constraints. The considered problem can be used as an idealized model of a membrane under forces, constrained by a barrier or…
Humans can exploit contacts anywhere on their body surface to manipulate large and heavy items, objects normally out of reach or multiple objects at once. However, such manipulation through contacts using the whole surface of the body…
We present to the community a surface-definition problem, whose solution we consider to be critical for the proper description of contacts between nominally flat surfaces [1,2]. In 2015, M\"user and Dapp issued the Contact Mechanics…
Differentiable physics has recently been shown as a powerful tool for solving soft-body manipulation tasks. However, the differentiable physics solver often gets stuck when the initial contact points of the end effectors are sub-optimal or…
Obstacle avoidance for DMPs is still a challenging problem. In our previous work, we proposed a framework for obstacle avoidance based on superquadric potential functions to represent volumes. In this work, we extend our previous work to…
Harmonic surface deformation is a well-known geometric modeling method that creates plausible deformations in an interactive manner. However, this method is susceptible to artifacts, in particular close to the deformation handles. These…
Many robot manipulation tasks require the robot to make and break contact with objects and surfaces. The dynamics of such changing-contact robot manipulation tasks are discontinuous when contact is made or broken, and continuous elsewhere.…
A topology optimization approach for designing large deformation contact-aided shape morphing compliant mechanisms is presented. Such mechanisms can be used in varying operating conditions. Design domains are described by regular hexagonal…