14 citations · 15 across the 3 of their papers we have counts for
4 papers
Fundamental Challenges in Deep Learning for Stiff Contact Dynamics
Mihir Parmar, Mathew Halm, Michael Posa
Frictional contact has been extensively studied as the core underlying behavior of legged locomotion and manipulation, and its nearly-discontinuous nature makes planning and contro…
ContactNets: Learning Discontinuous Contact Dynamics with Smooth, Implicit Representations
Samuel Pfrommer, Mathew Halm, Michael Posa
Common methods for learning robot dynamics assume motion is continuous, causing unrealistic model predictions for systems undergoing discontinuous impact and stiction behavior. In…
A Quasi-static Model and Simulation Approach for Pushing, Grasping, and Jamming
Mathew Halm, Michael Posa
Quasi-static models of robotic motion with frictional contact provide a computationally efficient framework for analysis and have been widely used for planning and control of non-p…
Modeling and Analysis of Non-unique Behaviors in Multiple Frictional Impacts
Mathew Halm, Michael Posa
Many fundamental challenges in robotics, based in manipulation or locomotion, require making and breaking contact with the environment. To represent the complexity of frictional co…