87 citations · 115 across the 12 of their papers we have counts for
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cs.RO2019★ 87 cited
Non-Smooth Newton Methods for Deformable Multi-Body Dynamics
Miles Macklin, Kenny Erleben, Matthias Müller +3
We present a framework for the simulation of rigid and deformable bodies in the presence of contact and friction. Our method is based on a non-smooth Newton iteration that solves t…
cs.RO2019
A Validated Physical Model For Real-Time Simulation of Soft Robotic Snakes
Renato Gasoto, Miles Macklin, Xuan Liu +4
In this work we present a framework that is capable of accurately representing soft robotic actuators in a multiphysics environment in real-time. We propose a constraint-based dyna…