An implicit particle-in-cell method for granular materials
Journal of Computational Physics
Nonconvex rigid bodies with stacking
ACM SIGGRAPH 2003 Papers
Proceedings of the 2003 conference on Diversity in computing
A Fast Impulsive Contact Suite for Rigid Body Simulation
IEEE Transactions on Visualization and Computer Graphics
Velocity-based shock propagation for multibody dynamics animation
ACM Transactions on Graphics (TOG)
International Journal of Robotics Research
Backward steps in rigid body simulation
ACM SIGGRAPH 2008 papers
Staggered projections for frictional contact in multibody systems
ACM SIGGRAPH Asia 2008 papers
A robust and tractable contact model for dynamic robotic simulation
Proceedings of the 2009 ACM symposium on Applied Computing
Passive force analysis with elastic contacts for fixturing and grasping
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
Volume contact constraints at arbitrary resolution
ACM SIGGRAPH 2010 papers
An iterative approach for cone complementarity problems for nonsmooth dynamics
Computational Optimization and Applications
How does a box work? A study in the qualitative dynamics of solid objects
Artificial Intelligence
A nonsmooth Newton solver for capturing exact Coulomb friction in fiber assemblies
ACM Transactions on Graphics (TOG)
Extending open dynamics engine for robotics simulation
SIMPAR'10 Proceedings of the Second international conference on Simulation, modeling, and programming for autonomous robots
Toward high-quality modal contact sound
ACM SIGGRAPH 2011 papers
Journal of Computational Physics
Time-Integration Schemes for the Finite Element Dynamic Signorini Problem
SIAM Journal on Scientific Computing
Analysis of the Modified Mass Method for the Dynamic Signorini Problem with Coulomb Friction
SIAM Journal on Numerical Analysis
Journal of Computational and Applied Mathematics
Interactive terrain simulation and force distribution models in sand piles
ACRI'06 Proceedings of the 7th international conference on Cellular Automata for Research and Industry
Reflections on simultaneous impact
ACM Transactions on Graphics (TOG) - SIGGRAPH 2012 Conference Proceedings
Sliding manipulation of rigid bodies on a controlled 6-DoF plate
International Journal of Robotics Research
A survey of numerical methods for IVPs of ODEs with discontinuous right-hand side
Journal of Computational and Applied Mathematics
Modeling and simulation of multiple impacts of falling rigid bodies
Mathematical and Computer Modelling: An International Journal
Issues in the real-time computation of optimal control
Mathematical and Computer Modelling: An International Journal
Convergence of continuous approximations for discontinuous ODEs
Applied Numerical Mathematics
Spatial simulation of pushbelt CVTs with time-stepping schemes
Applied Numerical Mathematics
Lyapunov analysis of rigid body systems with impacts and friction via sums-of-squares
Proceedings of the 16th international conference on Hybrid systems: computation and control
Multiple impacts: A state transition diagram approach
International Journal of Robotics Research
Foot-terrain interaction mechanics for legged robots: Modeling and experimental validation
International Journal of Robotics Research
Automation and Remote Control
Mathematics and Computers in Simulation
A direct method for trajectory optimization of rigid bodies through contact
International Journal of Robotics Research
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Rigid-body dynamics with unilateral contact is a good approximation for a wide range of everyday phenomena, from the operation of car brakes to walking to rock slides. It is also of vital importance for simulating robots, virtual reality, and realistic animation. However, correctly modeling rigid-body dynamics with friction is difficult due to a number of discontinuities in the behavior of rigid bodies and the discontinuities inherent in the Coulomb friction law. This is particularly crucial for handling situations with large coefficients of friction, which can result in paradoxical results known at least since Painlevé [C. R. Acad. Sci. Paris, 121 (1895), pp. 112--115]. This single example has been a counterexample and cause of controversy ever since, and only recently have there been rigorous mathematical results that show the existence of solutions to his example. The new mathematical developments in rigid-body dynamics have come from several sources: "sweeping processes" and the measure differential inclusions of Moreau in the 1970s and 1980s, the variational inequality approaches of Duvaut and J.-L. Lions in the 1970s, and the use of complementarity problems to formulate frictional contact problems by Lötstedt in the early 1980s. However, it wasn't until much more recently that these tools were finally able to produce rigorous results about rigid-body dynamics with Coulomb friction and impulses.