2023/03/15 by Xuchen Han, Han, Xuchen, Joseph Masterjohn +3 · 1 citation
Engineering · #Computational Engineering #Dynamics and Control of Mechanical Systems #FOS: Computer and information sciences #Finance #Robot Manipulation and Learning #Robotic Locomotion and Control #and Science (cs.CE)
paper · pdf · doi:10.48550/arxiv.2303.08912
openalex publication_date 2023/03/15 · openalex created_date 2025/10/10 · openalex updated_date 2026/07/28
We present a novel convex formulation that models rigid and deformable bodies coupled through frictional contact. The formulation incorporates a new corotational material model with positive semi-definite Hessian, which allows us to extend our previous work on the convex formulation of compliant contact to model large body deformations. We rigorously characterize our approximations and present implementation details. With proven global convergence, effective warm-start, the ability to take large time steps, and specialized sparse algebra, our method runs robustly at interactive rates. We provide validation results and performance metrics on challenging simulations relevant to robotics applications. Our method is made available in the open-source robotics toolkit Drake.