Name
Abstract | ||
|---|---|---|
ABSTRACTWe examine the relationship between primal, or force-based, and dual, or constraint-based formulations of dynamics. Variational frameworks such as Projective Dynamics have proved popular for deformable simulation, however they have not been adopted for contact-rich scenarios such as rigid body simulation. We propose a new preconditioned frictional contact solver that is compatible with existing primal optimization methods, and competitive with complementarity-based approaches. Our relaxed primal model generates improved contact force distributions when compared to dual methods, and has the advantage of being differentiable, making it well-suited for trajectory optimization. We derive both primal and dual methods from a common variational point of view, and present a comprehensive numerical analysis of both methods with respect to conditioning. We demonstrate our method on scenarios including rigid body contact, deformable simulation, and robotic manipulation. |
Year | DOI | Venue |
|---|---|---|
2020 | 10.1111/cgf.14104 | SCA |
Keywords | DocType | Volume |
CCS Concepts, •, Computing methodologies →, Simulation by animation, Interactive simulation, •, Computer systems organization →, Robotics, contact, friction, numerical optimization, robotics | Journal | 39 |
Issue | ISSN | Citations |
8 | 0167-7055 | 1 |
PageRank | References | Authors |
0.35 | 0 | 6 |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Miles Macklin | 1 | 248 | 17.11 |
| Kenny Erleben | 2 | 230 | 24.55 |
| Matthias Muller | 3 | 2726 | 122.09 |
| Nuttapong Chentanez | 4 | 675 | 38.02 |
| Stefan Jeschke | 5 | 16 | 4.75 |
| Tae-Yong Kim | 6 | 504 | 26.69 |