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Accurate frictional contact is critical in simulating the assembly of rod-like structures in the practical world, such as knots, hairs, flagella, and more. Due to their high geometric nonlinearity and elasticity, rod-on-rod contact remains…

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…

This thesis presents a unified modeling and simulation framework for analyzing sidewinding and tumbling locomotion of the COBRA snake robot across rigid, compliant, and granular terrains. A contact-implicit formulation is used to model…

With soft robotics being increasingly employed in settings demanding high and controlled contact forces, recent research has demonstrated the use of soft robots to estimate or intrinsically sense forces without requiring external sensing…

Gradient-based methods can efficiently optimize controllers by leveraging differentiable simulation and physical priors. However, contact-rich manipulation remains challenging because hybrid contact dynamics often produce discontinuous or…

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…

As the foundation of closed-loop training and evaluation in autonomous driving, traffic simulation still faces two fundamental challenges: covariate shift introduced by open-loop imitation learning and limited capacity to reflect the…

In this paper we present an original contactless human machine interface for driving car. The proposed framework is based on the image sent by a simple camera device, which is then processed by various computer vision algorithms. These…

Magnetic soft continuum robots (MSCRs) have emerged as a promising technology for minimally invasive interventions, offering enhanced dexterity and remote-controlled navigation in confined lumens. Unlike conventional guidewires with…

Haptic interfaces play a critical role in medical teleoperation by enabling surgeons to interact with remote environments through realistic force and motion feedback. Achieving high fidelity in such systems requires balancing the trade-offs…

Simulating rigid-body dynamics with contact in a fast, massively vectorizable, and smoothly differentiable manner is highly desirable in robotics. An important bottleneck faced by existing differentiable simulation frameworks is contact…

In this paper, a novel approach is proposed for learning robot control in contact-rich tasks such as wiping, by developing Diffusion Contact Model (DCM). Previous methods of learning such tasks relied on impedance control with time-varying…

This paper presents a novel implicit scheme for the constraint resolution in real-time finite element simulations in the presence of contact and friction. Instead of using the standard motion correction scheme, we propose an iterative…

Contact forces introduce discontinuities into robot dynamics that severely limit the use of simulators for gradient-based optimization. Penalty-based simulators such as MuJoCo, soften contact resolution to enable gradient computation.…

We present a computational framework for simulating filaments interacting with rigid bodies through contact. Filaments are challenging to simulate due to their codimensionality, i.e., they are one-dimensional structures embedded in…

Generating intelligent robot behavior in contact-rich settings is a research problem where zeroth-order methods currently prevail. A major contributor to the success of such methods is their robustness in the face of non-smooth and…

Simulation approaches for fluid-structure-contact interaction, especially if requested to be consistent even down to the real contact scenarios, belong to the most challenging and still unsolved problems in computational mechanics. The main…

State-of-the-art robotics simulators operate in discrete time. This requires users to choose a time step, which is both critical and challenging: large steps can produce non-physical artifacts, while small steps force the simulation to run…

Contact-rich manipulation tasks with stiff frictional elements like connector insertion are difficult to model with rigid-body simulators. In this work, we propose a new approach for modeling these environments by learning a quasi-static…

Simulation stands as a cornerstone for safe and efficient autonomous driving development. At its core a simulation system ought to produce realistic, reactive, and controllable traffic patterns. In this paper, we propose ProSim, a…