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Implicit Multibody Penalty-based Distributed Contact
ISSN: 1077-2626
The penalty method is a simple and popular approach to resolving contact in computer graphics and robotics. Penalty-based contact, however, suffers from stability problems due to the highly variable and unpredictable net stiffness, and this is particularly pronounced in simulations with time-varying distributed geometrically complex contact. We employ semi-implicit integration, exact analytical contact gradients, symbolic Gaussian elimination and a SVD solver to simulate stable penalty-based frictional contact with large, time-varying contact areas, involving many rigid objects and articulated rigid objects in complex conforming contact and self-contact. We also derive implicit proportional-derivative control forces for real-time control of articulated structures with loops. We present challenging contact scenarios such as screwing a hexbolt into a hole, bowls stacked in perfectly conforming configurations, and manipulating many objects using actively controlled articulated mechanisms in real time.
Jernej Barbic, Yili Zhao, "Implicit Multibody Penalty-based Distributed Contact," IEEE Transactions on Visualization and Computer Graphics, 17 March 2014. IEEE computer Society Digital Library. IEEE Computer Society, <>
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