Related papers: Embedded IPC: Fast and Intersection-free Simulatio…
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…
Simulation is a central tool for scalable robot learning, but its effectiveness depends on the quality of object assets. While modern 3D datasets provide rich geometric and kinematic representations, they typically lack the physical…
Soft robots achieve functionality through tight coupling among geometry, material composition, and actuation. As a result, effective design optimization requires these three aspects to be considered jointly rather than in isolation. This…
Reaching tasks with random targets and obstacles is a challenging task for robotic manipulators. In this study, we propose a novel model-free reinforcement learning approach based on proximal policy optimization (PPO) for training a deep…
To achieve general-purpose dexterous manipulation, robots must rapidly devise and execute contact-rich behaviors. Existing model-based controllers are incapable of globally optimizing in real-time over the exponential number of possible…
This study proposes novel control methods that lower impact force by preemptive movement and smoothly transition to conventional contact impedance control. These suggested techniques are for force control-based robots and position/velocity…
In this paper, we present a real-time whole-body planner for collision-free legged mobile manipulation. We enforce both self-collision and environment-collision avoidance as soft constraints within a Model Predictive Control (MPC) scheme…
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…
Physics simulation is ubiquitous in robotics. Whether in model-based approaches (e.g., trajectory optimization), or model-free algorithms (e.g., reinforcement learning), physics simulators are a central component of modern control pipelines…
Model predictive control (MPC) has become increasingly popular for the control of robot manipulators due to its improved performance compared to instantaneous control approaches. However, tuning these controllers remains a considerable…
Contact-aware topology optimization faces challenges in robustness, accuracy, and applicability to internal structural surfaces under self-contact. This work builds on the recently proposed barrier-based Incremental Potential Contact (IPC)…
Flexible robots may overcome some of the industry's major challenges, such as enabling intrinsically safe human-robot collaboration and achieving a higher payload-to-mass ratio. However, controlling flexible robots is complicated due to…
Barrier potentials gained popularity as a means for robust contact handling in physical modeling and for modeling self-avoiding shapes. The key to the success of these approaches is adherence to geometric constraints, i.e., avoiding…
This paper pushes the performance of cloth simulation, making the simulation interactive even for high-resolution garment models while keeping every triangle untangled. The penetration-free guarantee is inspired by the interior point…
We introduce a barrier-free optimization framework for non-penetration elastodynamic simulation that matches the robustness of Incremental Potential Contact (IPC) while overcoming its two primary efficiency bottlenecks: (1) reliance on…
We present a general approach for controlling robotic systems that make and break contact with their environments. Contact-implicit model predictive control (CI-MPC) generalizes linear MPC to contact-rich settings by utilizing a bi-level…
Tactile sensing plays an important role in robotic perception and manipulation. To overcome the real-world limitations of data collection, simulating tactile response in virtual environment comes as a desire direction of robotic research.…
Finite element simulations of frictional multi-body contact problems via conformal meshes can be challenging and computationally demanding. To render geometrical features, unstructured meshes must be used and this unavoidably increases the…
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).…
Soft robots can safely interact with environments because of their mechanical compliance. Self-collision is also employed in the modern design of soft robots to enhance their performance during different tasks. However, developing an…