Related papers: Three-Dimensional Rigid-Body Impact Mechanics for …
Lane changes are complex driving behaviors and frequently involve safety-critical situations. This study aims to develop a lane-change-related evasive behavior model, which can facilitate the development of safety-aware traffic simulations…
Asymmetric damping is widely used in passive vehicle suspensions, with rebound damping often recommended to exceed compression damping by a factor of two to three. Despite its prevalence, this guideline remains largely empirical and lacks a…
Understanding contact between rough surfaces undergoing plastic deformation is crucial in many applications. We test Persson's multiscale contact mechanics theory for elastoplastic solids, assuming a constant penetration hardness. Using a…
This paper presents a novel approach to numerically describe the interactions between rigid bodies, with a special focus on robotic grasping. Some of the more common approaches used to address such issues rely on satisfaction of a set of…
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…
This research introduces two efficient methods to estimate the collision risk of planned trajectories in autonomous driving under uncertain driving conditions. Deterministic collision checks of planned trajectories are often inaccurate or…
The simulation of multi-body systems with frictional contacts is a fundamental tool for many fields, such as robotics, computer graphics, and mechanics. Hard frictional contacts are particularly troublesome to simulate because they make the…
We present a novel framework for rigid body dynamics in ambient media, such as air or water, enabling accurate motion prediction of objects without requiring computational fluid dynamics simulations. Our method computes the added mass of…
Active muscles are crucial for maintaining postural stability when seated in a moving vehicle. Advanced active 3D non-linear full body models have been developed for impact and comfort simulation, including large numbers of individual…
This paper presents a motion analysis framework for an athlete wearing sport-specific flexible prosthesis based on the soft-rigid hybrid-link system. Such a motion analysis is a challenging problem because we need to consider the…
We present a fully distributed collision avoidance algorithm based on convex optimization for a team of mobile robots. This method addresses the practical case in which agents sense each other via measurements from noisy on-board sensors…
This article presents computationally efficient algorithms for modeling two special cases of rigid contact---contact with only viscous friction and contact without slip---that have particularly useful applications in robotic locomotion and…
Driving information and data under potential vehicle crashes create opportunities for extensive real-world observations of driver behaviors and relevant factors that significantly influence the driving safety in emergency scenarios.…
We use a simple, collision-based, discrete, random abrasion model to compute the profiles for the stoss faces in a bedrock abrasion process. The model is the discrete equivalent of the generalized version of a classical, collision based…
This work aims to provide standard formulations for direct minimization approaches on various types of static problems of continuum mechanics. Particularly, form-finding problems of tension structures are discussed in the first half and the…
We present a quasi-static finite element simulator for human face animation. We model the face as an actuated soft body, which can be efficiently simulated using Projective Dynamics (PD). We adopt Incremental Potential Contact (IPC) to…
Simple experiments for which differential equations cannot be solved analytically can be addressed using an effective model that satisfactorily reproduces the experimental data. In this work, the one-dimensional kinematics of a…
We present a method for the efficient processing of contact and collision in volumetric elastic models simulated using the Projective Dynamics paradigm. Our approach enables interactive simulation of tetrahedral meshes with more than half a…
This paper presents a novel contact-implicit trajectory optimization method using an analytically solvable contact model to enable planning of interactions with hard, soft, and slippery environments. Specifically, we propose a novel contact…
This paper presents a new approach to accurately simulating 3D overhead cranes with friction. Although nonlinear friction dynamics has a significant impact on these systems, accurately modeling this phenomenon in simulations is a…