On the Similarities and Differences Among Contact Models in Robot Simulation

Horak, Peter C.; Trinkle, Jeff

doi:10.1109/lra.2019.2891085

Cited by 37 publications

(45 citation statements)

References 22 publications

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“…Rigid-body models of dynamics and contact (see Stewart [38] or Brogliato [4] for an overview) are widely used in robotics, as they can lead to far more tractable methods than approaches which explicitly attempt to capture the stiff interaction between objects. These approaches have also led to complementarity-based simulation schemes, such as [1,10,16,22,36,37] and others. Recent research, using complementarity models, has also been conducted into multi-contact optimal planning [25,27,28] and control [15,29].…”

Section: Introductionmentioning

confidence: 99%

Modeling and Analysis of Non-Unique Behaviors in Multiple Frictional Impacts

Halm

Posa

2019

Robotics: Science and Systems XV

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Many fundamental challenges in robotics, based in manipulation or locomotion, require making and breaking contact with the environment. To represent the complexity of frictional contact events, impulsive impact models are especially popular, as they often lead to mathematically and computationally tractable approaches. However, when two or more impacts occur simultaneously, the precise sequencing of impact forces is generally unknown, leading to the potential for multiple possible outcomes. This simultaneity is far from pathological, and occurs in many common robotics applications. In this work, we propose an approach for resolving simultaneous frictional impacts, represented as a differential inclusion. Solutions to our model, an extension to multiple contacts of Routh's method, naturally capture the set of potential post-impact velocities. We prove that solutions to the presented model must terminate. This is, to the best of our knowledge, the first such guarantee for set-valued outcomes to simultaneous frictional impacts.

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Section: Introductionmentioning

confidence: 99%

Modeling and Analysis of Non-Unique Behaviors in Multiple Frictional Impacts

Halm

Posa

2019

Robotics: Science and Systems XV

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“…Some others approaches [18] relax the complementarity constraint in order to transform the frictional contact problem into a single and simple optimization one [12]. However, this relaxation may lead to physically implausible behaviors such as object interactions without objects being in contact [13]. In this paper, we extend the formulation in [15] to laws of multiple elastic collisions [19].…”

Section: Related Workmentioning

confidence: 99%

“…4c). It is worth noting that the simulated trajectories were generated with an algorithm (PGS-NCP from [13]) and a time step different from the ones of the differentiable simulator used for the inference, and that we also added white noise (variance of 10 −3 m) to make sure that results from simulations do not depend on the way trajectories are simulated.…”

Section: B Physical Parameters Inference From Trajectoriesmentioning

confidence: 99%

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Differentiable Simulation for Physical System Identification

Lidec

Kalevatykh

Laptev

et al. 2021

IEEE Robot. Autom. Lett.

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HAL is a multi-disciplinary open access archive for the deposit and dissemination of scientific research documents, whether they are published or not. The documents may come from teaching and research institutions in France or abroad, or from public or private research centers. L'archive ouverte pluridisciplinaire HAL, est destinée au dépôt et à la diffusion de documents scientifiques de niveau recherche, publiés ou non, émanant des établissements d'enseignement et de recherche français ou étrangers, des laboratoires publics ou privés.

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“…Next, we follow a similar treatment with time-stepping approaches, e.g. [22], [23]. Equation (1) is discretized using an Euler approximation to obtain the discrete version…”

Section: A Dynamics With Contactsmentioning

confidence: 99%

Contact-Implicit Trajectory Optimization Using an Analytically Solvable Contact Model for Locomotion on Variable Ground

Chatzinikolaidis

You

2020

IEEE Robot. Autom. Lett.

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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 model that can be computed in closed-form, satisfies friction cone constraints and can be embedded into direct trajectory optimization frameworks without complementarity constraints. The closed-form solution decouples the computation of the contact forces from other actuation forces and this property is used to formulate a minimal direct optimization problem expressed with configuration variables only. Our simulation study demonstrates the advantages over the rigid contact model and a trajectory optimization approach based on complementarity constraints. The proposed model enables physics-based optimization for a wide range of interactions with hard, slippery, and soft grounds in a unified manner expressed by two parameters only. By computing trotting and jumping motions for a quadruped robot, the proposed optimization demonstrates the versatility for multi-contact motion planning on surfaces with different physical properties.

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On the Similarities and Differences Among Contact Models in Robot Simulation

Cited by 37 publications

References 22 publications

Modeling and Analysis of Non-Unique Behaviors in Multiple Frictional Impacts

Modeling and Analysis of Non-Unique Behaviors in Multiple Frictional Impacts

Differentiable Simulation for Physical System Identification

Contact-Implicit Trajectory Optimization Using an Analytically Solvable Contact Model for Locomotion on Variable Ground

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