Related papers: From Compliant to Rigid Contact Simulation: a Unif…
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…
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)…
Soft robots were introduced in large part to enable safe, adaptive interaction with the environment, and this interaction relies fundamentally on contact. However, modeling and planning contact-rich interactions for soft robots remain…
Robotic manipulation in unstructured environments requires planners to reason jointly about free-space motion and sustained, frictional contact with the environment. Existing (local) planning and simulation frameworks typically separate…
We present a convex formulation of compliant frictional contact and a robust, performant method to solve it in practice. By analytically eliminating contact constraints, we obtain an unconstrained convex problem. Our solver has proven…
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).…
The multi-contact nonlinear complementarity problem (NCP) is a naturally arising challenge in robotic simulations. Achieving high performance in terms of both accuracy and efficiency remains a significant challenge, particularly in…
We propose a control framework which can utilize tactile information by exploiting the complementarity structure of contact dynamics. Since many robotic tasks, like manipulation and locomotion, are fundamentally based in making and breaking…
Multibody simulation with frictional contact has been a challenging subject of research for the past thirty years. Rigid-body assumptions are commonly used to approximate the physics of contact, and together with Coulomb friction, lead to…
While many robotic tasks, like manipulation and locomotion, are fundamentally based in making and breaking contact with the environment, state-of-the-art control policies struggle to deal with the hybrid nature of multi-contact motion. Such…
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…
In this work we consider the hybrid Data-Driven Computational Mechanics (DDCM) approach, in which a smooth constitutive manifold is reconstructed to obtain a well-behaved nonlinear optimization problem (NLP) rather than the much harder…
We present a principled method for dynamic simulation of rigid bodies in intermittent contact with each other where the contact is assumed to be a non-convex contact patch that can be modeled as a union of convex patches. The prevalent…
We present a differentiable dynamics solver that is able to handle frictional contact for rigid and deformable objects within a unified framework. Through a principled mollification of normal and tangential contact forces, our method…
An effective paradigm for simulating the dynamics of robots that locomote and manipulate is multi-rigid body simulation with rigid contact. This paradigm provides reasonable tradeoffs between accuracy, running time, and simplicity of…
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…
The paper presents a new reduction method designed for dynamic contact problems. Recently, we have proposed an efficient reduction scheme for the node-to-node formulation, that leads to Linear Complementarity Problems (LCP). Here, we…
We present a differentiable formulation of rigid-body contact dynamics for objects and robots represented as compositions of convex primitives. Existing optimization-based approaches simulating contact between convex primitives rely on a…
Accurately modeling contact behaviors for real-world, near-rigid materials remains a grand challenge for existing rigid-body physics simulators. This paper introduces a data-augmented contact model that incorporates analytical solutions…
Fast and safe motion is crucial for the successful deployment of physically interactive robots. Parallel robots (PRs) offer the potential for higher speeds while maintaining the same energy limits due to their low moving masses. However,…