Related papers: Midplane based 3D single pass unbiased segment-to-…
This contribution proposes the first 3D beam-to-beam interaction model for molecular interactions between curved slender fibers undergoing large deformations. While the general model is not restricted to a specific beam formulation, in the…
Common methods for learning robot dynamics assume motion is continuous, causing unrealistic model predictions for systems undergoing discontinuous impact and stiction behavior. In this work, we resolve this conflict with a smooth, implicit…
Using a fixed Eulerian mesh, the phase-field method has been successfully utilized for a broad range of moving boundary problems involving multiphase fluids and single-phase fluid-structure interaction. Nevertheless, multiphase fluids…
Networks of flexible filaments often involve regions of tight contact. Predictively understanding the equilibrium configurations of these systems is challenging due to intricate couplings between topology, geometry, large nonlinear…
Recent advances in the simulation of frictionally contacting elastodynamics with the Incremental Potential Contact (IPC) model have enabled inversion and intersection-free simulation via the application of mollified barriers, filtered…
The paper introduces a novel framework for safe and autonomous aerial physical interaction in industrial settings. It comprises two main components: a neural network-based target detection system enhanced with edge computing for reduced…
We present the Shape Part Slot Machine, a new method for assembling novel 3D shapes from existing parts by performing contact-based reasoning. Our method represents each shape as a graph of ``slots,'' where each slot is a region of contact…
We propose a novel three-way coupling method to model the contact interaction between solid and fluid driven by strong surface tension. At the heart of our physical model is a thin liquid membrane that simultaneously couples to both the…
The paper addresses the problem of a Mode III interfacial crack advancing quasi-statically in a heterogeneous composite material, that is a two-phase material containing elastic inclusions, both soft and stiff, and defects, such as…
Mechanical contact between solids is almost exclusively modeled in Lagrangian frameworks. While these frameworks have been developed extensively and applied successfully to numerous contact problems, they generally require complex…
We consider a vector-Laplace problem posed on a 2D surface embedded in a 3D domain, which results from the modeling of surface fluids based on exterior Cartesian differential operators. The main topic of this paper is the development and…
We introduce an Eulerian approach for problems involving one or more soft solids immersed in a fluid, which permits mechanical interactions between all phases. The reference map variable is exploited to simulate finite-deformation…
We introduce a contact law for the normal force generated between two contacting, elastically anisotropic bodies of arbitrary geometry. The only requirement is that their surfaces be smooth and frictionless. This anisotropic contact law is…
Methods for finding the optimal choices of the applied remote loads -- the applied normal force, moment, shear force and remote bulk stresses -- needed to solve frictional contact problems in partial-slip using half-plane theory are derived…
Contact modeling plays a central role in motion planning, simulation, and control of legged robots, as legged locomotion is realized through contact. The two prevailing approaches to model the contact consider rigid and compliant premise at…
We propose a new method for segmentation-free joint estimation of orthogonal planes, their intersection lines, relationship graph and corners lying at the intersection of three orthogonal planes. Such unified scene exploration under…
We propose TRADE for robust tracking and 3D localization of a moving target in cluttered environments, from UAVs equipped with a single camera. Ultimately TRADE enables 3d-aware target following. Tracking-by-detection approaches are…
Understanding 3d human interactions is fundamental for fine-grained scene analysis and behavioural modeling. However, most of the existing models predict incorrect, lifeless 3d estimates, that miss the subtle human contact aspects--the…
Triangulated meshes have become ubiquitous discrete-surface representations. In this paper we address the problem of how to maintain the manifold properties of a surface while it undergoes strong deformations that may cause topological…
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…