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cs.RO2025
On the Conic Complementarity of Planar Contacts
Yann de Mont-Marin, Louis Montaut, Jean Ponce +2
We present a unifying theoretical result that connects two foundational principles in robotics: the Signorini law for point contacts, which underpins many simulation methods for pr…
cs.RO2025
Differentiable Simulation of Soft Robots with Frictional Contacts
Etienne Ménager, Louis Montaut, Quentin Le Lidec +1
In recent years, soft robotics simulators have evolved to offer various functionalities, including the simulation of different material types (e.g., elastic, hyper-elastic) and act…