Related papers: Three-Dimensional Rigid-Body Impact Mechanics for …
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…
A general framework for performing event-driven simulations of systems with semi-flexible or rigid bodies interacting under impulsive torques and forces is outlined. Two different approaches are presented. In the first, the dynamics and…
Collisions and impacts are the principal reasons for impulsive motions, which we frequently see in dynamic responses of systems. Precise modelling of impacts is a challenging problem due to the lack of the accurate and commonly accepted…
Robotic manipulation and locomotion often entail nearly-simultaneous collisions -- such as heel and toe strikes during a foot step -- with outcomes that are extremely sensitive to the order in which impacts occur. Robotic simulators…
This paper presents a three dimensional collision avoidance approach for aerial vehicles inspired by coordinated behaviors in biological groups. The proposed strategy aims to enable a group of vehicles to converge to a common destination…
Background The development of a simulation model of full body reaching tasks that can predict endeffector trajectories and joint excursions consistent with experimental data is a non-trivial task. Because of the kinematic redundancy…
Several physical systems in condensed matter have been modeled approximating their constituent particles as hard objects. The hard spheres model has been indeed one of the cornerstones of the computational and theoretical description in…
Accurate post-impact velocity predictions are essential in developing impact-aware manipulation strategies for robots, where contacts are intentionally established at non-zero speed mimicking human manipulation abilities in dynamic grasping…
Interactive real-time rigid body simulation is a crucial tool in any modern game engine or 3D authoring tool. The quest for fast, robust and accurate simulations is ever evolving. PBRBD (Position Based Rigid Body Dynamics), a recent…
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…
Trajectory planning in dense, interactive traffic scenarios presents significant challenges for autonomous vehicles, primarily due to the uncertainty of human driver behavior and the non-convex nature of collision avoidance constraints.…
It is well-known that inverse dynamics models can improve tracking performance in robot control. These models need to precisely capture the robot dynamics, which consist of well-understood components, e.g., rigid body dynamics, and effects…
We revisit the computation of a probability of collision in the context of automotive collision avoidance (also referred to as conflict detection in other contexts). After reviewing existing approaches to the definition and computation of a…
A key challenge in 3D finite element models of coupled railway vehicle-bridge dynamics is the rigorous definition of kinematic constraints and the development of an efficient, robust solution. This paper presents a novel approach that can…
In normal on-road situations, autonomous vehicles will be expected to have smooth trajectories with relatively little demand on the vehicle dynamics to ensure passenger comfort and driving safety. However, the occurrence of unexpected…
The prevailing models for advancing dynamic contact angle are under intensive debates, and the fitting performances are far from satisfying in practice. The present study proposes a model based on the recent understanding of the multi-scale…
This paper develops a comprehensive two-dimensional generalisation of the recently introduced Friction with Bristle Dynamics (FrBD) framework for rolling contact problems. The proposed formulation extends the one-dimensional FrBD model to…
Two dimensional modeling of collisionless shocks has been of tremendous importance in understanding the physics of the non-linear evolution, momentum transfer and particle acceleration, but current computer capacities have now reached a…
This letter studies a distributed collision avoidance control problem for a group of rigid bodies on a sphere. A rigid body network, consisting of multiple rigid bodies constrained to a spherical surface and an interconnection topology, is…
Formulating a consistent theory for rigid-body dynamics with impacts is an intricate problem. Twenty years ago Stewart published the first consistent theory with purely inelastic impacts and an impulsive friction model analogous to Coulomb…