Physics simulation is ubiquitous in robotics. Whether in model-based approaches (eg,
trajectory optimization), or model-free algorithms (eg, reinforcement learning), physics …

A multiscale model for real-time simulation of terrain dynamics is explored. To represent the
dynamics on different scales the model combines the description of soil as a continuous …

The smooth and nonsmooth approaches to the discrete element method (DEM) are
examined from a computational perspective. The main difference can be understood as …

Large stone course structures such as Roman amphitheatres or aqueducts can be modelled
as collections of rigid or deformable discrete elements. The “Non-Smooth Contact …

Purpose–The paper aims to present interactive simulation with haptic feedback as a valid
method for solving complex assembly problems in the context of industrial product …

The development of a generic and effective force model for semi-automatic or manual virtual
assembly with haptic support is not a trivial task, especially when the assembly constraints …

The underlying dynamic model of multibody systems takes the form of a differential
Complementarity Problem (dCP), which is nonsmooth and thus challenging to integrate. The …

Quartic formulation of Coulomb 3D frictional contact Page 1 HAL Id: inria-00553859 https://inria.hal.science/inria-00553859
Submitted on 10 Jan 2011 HAL is a multi-disciplinary open access archive for the deposit …

Force predictions of soil-tool interaction using the Discrete Element Method (DEM) are
widely established. In addition to an acceptable prediction quality, the efficient simulation of …

We develop a method for offline parameter estimation of discrete multibody dynamics with
regularized and frictional kinematic constraints. This setting leads to unobserved degrees of …