相关论文: Three-dimensional multi-mesh material point method…

Optimal estimation is a promising tool for estimation of payloads' inertial parameters and localization of robots in the presence of multiple contacts. To harness its advantages in robotics, it is crucial to solve these large and…

Efficient and robust trajectories play a crucial role in contact-rich manipulation, which demands accurate mod- eling of object-robot interactions. Many existing approaches rely on point contact models due to their computational effi-…

The problem of 3D object recognition is of immense practical importance, with the last decade witnessing a number of breakthroughs in the state of the art. Most of the previous work has focused on the matching of textured objects using…

The article proposes a new method for finding the triangle-triangle intersection in 3D space, based on the use of computer graphics algorithms -- cutting off segments on the plane when moving and rotating the beginning of the coordinate…

We propose a frictionless contact formulation for isogeometric analysis, which combines a collocated formulation for the contact surfaces with a standard Galerkin treatment of the bulk. We denote it as isogeometric Collocated Contact…

In this paper we develop a conservative sharp-interface method dedicated to simulating multiple compressible fluids. Numerical treatments for a cut cell shared by more than two materials are proposed. First, we simplify the interface…

Existing beam contact formulations can be categorized in point contact models that consider a discrete contact force at the closest point of the beams, and line contact models that assume distributed contact forces. In this work, it will be…

Shape assembly composes complex shapes geometries by arranging simple part geometries and has wide applications in autonomous robotic assembly and CAD modeling. Existing works focus on geometry reasoning and neglect the actual physical…

In this paper, a hybrid Lagrangian-Eulerian topology optimization (LETO) method is proposed to solve the elastic force equilibrium with the Material Point Method (MPM). LETO transfers density information from freely movable Lagrangian…

We develop an efficient reduced basis method for the frictional contact problem formulated using Nitsche's method. We focus on the regime of small deformations and on Tresca friction. The key idea ensuring the computational efficiency of…

Daily tasks require us to use our whole body to manipulate objects, for instance when our hands are unavailable. We consider the issue of providing humanoid robots with the ability to autonomously perform similar whole-body manipulation…

An efficient method is presented for solving axisymmetric, frictionless contact problems between a rigid punch and an elastically non-homogeneous, power-law graded half-space. Provided that the contact area is simply-connected profiles of…

System identification involving the geometry, appearance, and physical properties from video observations is a challenging task with applications in robotics and graphics. Recent approaches have relied on fully differentiable Material Point…

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 work presents a concise theoretical and computational framework for the finite element formulation of frictional contact problems with arbitrarily large deformation and sliding. The aim of this work is to extend the contact theory…

Finding correspondences between shapes is a fundamental problem in computer vision and graphics, which is relevant for many applications, including 3D reconstruction, object tracking, and style transfer. The vast majority of correspondence…

This work is concerned with the micro-architecture of multi-layer material that globally exhibits desired mechanical properties, for instance a negative apparent Poisson ratio. We use inverse homogenization, the level set method, and the…

We present a novel, physically-based morphing technique for elastic shapes, leveraging the differentiable material point method (MPM) with space-time control through per-particle deformation gradients to accommodate complex topology…

Mesh degeneration is a bottleneck for fluid-structure interaction (FSI) simulations and for shape optimization via the method of mappings. In both cases, an appropriate mesh motion technique is required. The choice is typically based on…

Collision detection is a critical functionality for robotics. The degree to which objects collide cannot be represented as a continuously differentiable function for any shapes other than spheres. This paper proposes a framework for…