Related papers: Smooth-Rigid-Body Contact as a ReLCP: A Recursivel…
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)…
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…
Based on smoothing techniques, we propose two new methods to solve linear complementarity problems (LCP) called TLCP and Soft-Max. The idea of these two new methods takes inspiration from interior-point methods in optimization. The…
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 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…
Whether rigid or compliant, contact interactions are inherent to robot motions, enabling them to move or manipulate things. Contact interactions result from complex physical phenomena, that can be mathematically cast as Nonlinear…
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…
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…
General Successive Convex Relaxation Methods (SRCMs) can be used to compute the convex hull of any compact set, in an Euclidean space, described by a system of quadratic inequalities and a compact convex set which is not very complicated.…
In this paper, we develop a principled method to model line and surface contact with point contact (we call this point, equivalent contact point) that is consistent with physics-based models of surface (line) contact. Assuming that the set…
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 motion prediction via dynamic simulation for rigid bodies in intermittent contact with each other where the contact is assumed to be a planar non-convex contact patch. The planar non-convex contact patch…
Sliding cable system with frictions is encountered in many engineering applications. Such system is typically characterized by existences of complex and varied motion states of different sliding nodes (pulleys), which leads to significant…
We present a principled method for motion prediction via dynamic simulation for rigid bodies in intermittent contact with each other where the contact region is a planar non-convex contact patch. Such methods are useful in planning and…
The paper proposes an approach for the efficient model order reduction of dynamic contact problems in linear elasticity. Instead of the augmented Lagrangian method that is widely used for mechanical contact problems, we prefer here the…
We consider suspensions of rigid bodies in a two-dimensional viscous fluid. Even with high-fidelity numerical methods, unphysical contact between particles occurs because of spatial and temporal discretization errors. We apply the method of…
Successive convex programming (SCP) is a powerful class of direct optimization methods, known for its polynomial complexity and computational efficiency, making it particularly suitable for autonomous applications. Direct methods are also…
This paper extends the Finite Elements with Switch Detection and Jumps (FESD-J) [1] method to problems of rigid body dynamics involving patch contacts. The FESD-J method is a high accuracy discretization scheme suitable for use in direct…
Generalized Nash equilibrium problems (GNEPs) arise in various applications where multiple players minimize individual cost functions subject to coupled constraints. A relatively unexplored approach to solving such problems is via a…
General Successive Convex Relaxation Methods (SRCMs) can be used to compute the convex hull of any compact set, in an Euclidean space, described by a system of quadratic inequalities and a compact convex set which is not very complicated.…