18 citations · 20 across the 6 of their papers we have counts for
6 papers
Irrotational Contact Fields
Alejandro Castro, Xuchen Han, Joseph Masterjohn
We present a framework for generating convex approximations of complex contact models, incorporating experimentally validated models like Hunt & Crossley coupled with Coulomb's law…
Proximity and Visuotactile Point Cloud Fusion for Contact Patches in Extreme Deformation
Jessica Yin, Paarth Shah, Naveen Kuppuswamy +5
Visuotactile sensors are a popular tactile sensing strategy due to high-fidelity estimates of local object geometry. However, existing algorithms for processing raw sensor inputs t…
A Convex Formulation of Frictional Contact between Rigid and Deformable Bodies
Xuchen Han, Joseph Masterjohn, Alejandro Castro
We present a novel convex formulation that models rigid and deformable bodies coupled through frictional contact. The formulation incorporates a new corotational material model wit…
An Unconstrained Convex Formulation of Compliant Contact
Alejandro Castro, Frank Permenter, Xuchen Han
We present a convex formulation of compliant frictional contact and a robust, performant method to solve it in practice. By analytically eliminating contact constraints, we obtain…
Velocity Level Approximation of Pressure Field Contact Patches
Joseph Masterjohn, Damrong Guoy, John Shepherd +1
Pressure Field Contact (PFC) was recently introduced as a method for detailed modeling of contact interface regions at rates much faster than elasticity-theory models, while at the…
A Transition-Aware Method for the Simulation of Compliant Contact with Regularized Friction
Alejandro M. Castro, Ante Qu, Naveen Kuppuswamy +2
Multibody simulation with frictional contact has been a challenging subject of research for the past thirty years. Rigid-body assumptions are commonly used to approximate the physi…