The large-scale mechanical behavior of woven cloth is determined by the mechanical
properties of the yarns, the weave pattern, and frictional contact between yarns. Using …

Embodiment has led to a revolution in robotics by not thinking of the robot body and its
controller as two separate units, but taking into account the interaction of the body with its …

We explore the dexterous manipulation transfer problem by designing simulators. The task
wishes to transfer human manipulations to dexterous robot hand simulations and is …

Frictional contacts are the primary way by which physical bodies interact, yet they pose
many numerical challenges. Previous works have devised robust methods for handling …

We examine the relationship between primal, or force‐based, and dual, or constraint‐based
formulations of dynamics. Variational frameworks such as Projective Dynamics have proved …

Although there has been great progress in robot grasp planning, automatically generated
grasp sets using a quality metric are not as robust as human-generated grasp sets when …

We present a simple algorithm to compute continuous penalty forces to determine collision
response between rigid and deformable models bounded by triangle meshes. Our algorithm …

We propose a simulation system that achieves realistic and efficient simulations of
humanoid robots. This paper focuses on a constraint-based contact force solver and virtual …

In this paper, we investigate the impact of the deformable bodies on the control algorithms
for physically simulated characters. We hypothesize that ignoring the effect of deformable …

Two methods have been used extensively to model resting contact for rigid-body simulation.
The first approach, the penalty method, applies virtual springs to surfaces in contact to …