18 citations · 20 across the 6 of their papers we have counts for
3 papers · 1 filter
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…