Related papers: Geometric Contact Potential
In this paper, we analyze the effects of contact models on contact-implicit trajectory optimization for manipulation. We consider three different approaches: (1) a contact model that is based on complementarity constraints, (2) a smooth…
Using a geometric formalism of elasticity theory we develop a systematic theoretical method for controlling and manipulating the mechanical response of slender solids to external loads. We formally express global mechanical properties…
We discuss a novel approach that allows to obtain effective potentials from ab initio trajectories. Our method consists in fitting the weighted radial distribution functions obtained from the ab initio data with the ones obtained from…
We introduce topological contact dynamics of a smooth manifold carrying a cooriented contact structure, generalizing previous work in the case of a symplectic structure [MO07] or a contact form [BS12]. A topological contact isotopy is not…
We propose an enriched finite element formulation to address the computational modeling of contact problems and the coupling of non-conforming discretizations in the small deformation setting. The displacement field is augmented by enriched…
A path-following collision-avoidance model predictive control (MPC) method is proposed which approximates obstacle shapes as convex polygons. Collision-avoidance is ensured by means of the signed distance function which is calculated…
In this paper we show and discuss the use of a versatile interaction potential approach coupled with an immersed boundary method to simulate a variety of flows involving deformable bodies. In particular, we focus on two kinds of problems,…
In this work, we consider parabolic models with dynamic boundary conditions and parabolic bulk-surface problems in 3D. Such partial differential equations based models describe phenomena that happen both on the surface and in the…
We present a framework for generating convex approximations of complex contact models, incorporating experimentally validated models like Hunt & Crossley coupled with Coulomb's law of friction alongside the principle of maximum dissipation.…
We develop a unified geometric framework for mechanical systems that combine conservative and dissipative dynamics by formulating them on contact manifolds. Within this setting, we identify the Reeb vector field as the intrinsic generator…
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 present a novel Material Point Method (MPM) discretization of surface tension forces that arise from spatially varying surface energies. These variations typically arise from surface energy dependence on temperature and/or concentration.…
We present a model, based on symmetry and geometry, for proteins. Using elementary ideas from mathematics and physics, we derive the geometries of discrete helices and sheets. We postulate a compatible solvent-mediated emergent pairwise…
Slender beam-like structures frequently occur in engineering applications and often interact at discrete locations through joints or connectors. Accurate modeling of such interactions is particularly challenging when different numerical…
In this paper, we develop new methods for the analysis of decentralized control systems and we apply them to formation control problems. The basic set-up consists of a system with multiple agents corresponding to the nodes of a graph whose…
We present a coarse-grained C$\alpha$-based protein model that can be used to simulate structured, intrinsically disordered and partially disordered proteins. We use a Go-like potential for the structured parts and two different variants of…
We develop efficient and high-order accurate finite difference methods for elliptic partial differential equations in complex geometry in the Difference Potentials framework. The main novelty of the developed schemes is the use of local…
The realization space of geometric constraint systems is given by the vanishing locus of polynomials corresponding to natural geometric constraints. Such geometric constraint systems arise in many real-world scenarios such as structural…
We study measures and point configurations optimizing energies based on multivariate potentials. The emphasis is put on potentials defined by geometric characteristics of sets of points, which serve as multi-input generalizations of the…
In object segmentation by active contours, the initial contour is often required. Conventionally, the initial contour is provided by the user. This paper extends the conventional active contour model by incorporating feature matching in the…