Review and comparison of dry friction force models
Friction force models play a fundamental role for simulation of mechanical systems. Their
choice affects the matching of numerical results with physically observed behavior. Friction …
choice affects the matching of numerical results with physically observed behavior. Friction …
A review on locomotion robophysics: the study of movement at the intersection of robotics, soft matter and dynamical systems
Discovery of fundamental principles which govern and limit effective locomotion (self-
propulsion) is of intellectual interest and practical importance. Human technology has …
propulsion) is of intellectual interest and practical importance. Human technology has …
Optimization-based control for dynamic legged robots
In a world designed for legs, quadrupeds, bipeds, and humanoids have the opportunity to
impact emerging robotics applications from logistics, to agriculture, to home assistance. The …
impact emerging robotics applications from logistics, to agriculture, to home assistance. The …
Versatile multicontact planning and control for legged loco-manipulation
Loco-manipulation planning skills are pivotal for expanding the utility of robots in everyday
environments. These skills can be assessed on the basis of a system's ability to coordinate …
environments. These skills can be assessed on the basis of a system's ability to coordinate …
End-to-end differentiable physics for learning and control
We present a differentiable physics engine that can be integrated as a module in deep
neural networks for end-to-end learning. As a result, structured physics knowledge can be …
neural networks for end-to-end learning. As a result, structured physics knowledge can be …
Global planning for contact-rich manipulation via local smoothing of quasi-dynamic contact models
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 …
much to be understood from a model-based perspective, where the key difficulties are often …
Add: Analytically differentiable dynamics for multi-body systems with frictional contact
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 …
and deformable objects within a unified framework. Through a principled mollification of …
A direct method for trajectory optimization of rigid bodies through contact
Direct methods for trajectory optimization are widely used for planning locally optimal
trajectories of robotic systems. Many critical tasks, such as locomotion and manipulation …
trajectories of robotic systems. Many critical tasks, such as locomotion and manipulation …
Simulation tools for model-based robotics: Comparison of bullet, havok, mujoco, ode and physx
There is growing need for software tools that can accurately simulate the complex dynamics
of modern robots. While a number of candidates exist, the field is fragmented. It is difficult to …
of modern robots. While a number of candidates exist, the field is fragmented. It is difficult to …
[ספר][B] Finite-dimensional variational inequalities and complementarity problems
F Facchinei, JS Pang - 2003 - Springer
Complementary to Chapter 11, the present chapter is devoted to the study of solution
methods for VIs that are of the monotone type and also for NCPs of the P 0 type. We already …
methods for VIs that are of the monotone type and also for NCPs of the P 0 type. We already …