Contact is ubiquitous and often unavoidable and yet modeling contacting systems continues
to stretch the limits of available computational tools. In part this is due to the unique hurdles …

We present a differentiable dynamics solver that is able to handle frictional contact for rigid
and deformable objects within a unified framework. Through a principled mollification of …

Soft robots are primarily composed of soft materials that can allow for mechanically robust
maneuvers that are not typically possible with conventional rigid robotic systems. However …

Thank you for opening the third edition of this monograph. The first edition [202] was
published in 1996 in the Lecture Notes in Control and Information Sciences series (vol. 220) …

The typical elastic surface or curve simulation method takes a Lagrangian approach and
consists of three components: time integration, collision detection and collision response …

Interactive rigid body simulation is an important part of many modern computer tools, which
no authoring tool nor game engine can do without. Such high‐performance computer tools …

In this paper we propose a finite element approach which simulates the mechanical
behaviour of beam assemblies that are subject to large deformations and that develop …

We present a framework for the simulation of rigid and deformable bodies in the presence of
contact and friction. Our method is based on a non-smooth Newton iteration that solves the …

Dry friction between hair fibers plays a major role in the collective hair dynamic behavior as
it accounts for typical nonsmooth features such as stick-slip instabilities. However, due the …

We present a solution method that, compared to the traditional Gauss-Seidel approach,
reduces the time required to simulate the dynamics of large systems of rigid bodies …