This work reviews the main techniques to model dynamical systems with contact-impact
events. Regularized and non-smooth formulations are considered, wherein the fundamental …

Impact is a complex phenomenon that occurs when two or more bodies undergo a collision.
This phenomenon is important in many different areas––machine design, robotics, multi …

The empirical success of reinforcement learning (RL) in contact-rich manipulation leaves
much to be understood from a model-based perspective, where the key difficulties are often …

We provide an overview of a multi-physics dynamics engine called Chrono. Its forte is the
handling of complex and large dynamic systems containing millions of rigid bodies that …

A linear complementarity formulation for dynamic multi-rigid-body contact problems with
Coulomb friction is presented. The formulation, based on explicit Euler integration and …

This review article focuses on the problems related to numerical simulation of finite
dimensional nonsmooth multibody mechanical systems. The rigid body dynamical case is …

This paper proposes an iterative method that can simulate mechanical systems featuring a
large number of contacts and joints between rigid bodies. The numerical method behaves …

Aiming at a fast and robust simulation of large multibody systems with contacts and friction,
this work presents a novel method for solving large cone complementarity problems by …

We present a time-step** method to simulate rigid multibody dynamics with inelastic
collision, contact, and friction. The method progresses with fixed time step without …

This paper gives convergence theory for a new implicit time‐step** scheme for general
rigid‐body dynamics with Coulomb friction and purely inelastic collisions and shocks. An …