4 papers · 1 filter
Frictional Contact Solving for Material Point Method
Etienne Ménager, Justin Carpentier
Accurately handling contact with friction remains a core bottleneck for Material Point Method (MPM), from reliable contact point detection to enforcing frictional contact laws (non…
Optimal Control of Walkers with Parallel Actuation
Ludovic de Matteis, Virgile Batto, Justin Carpentier +1
Legged robots with closed-loop kinematic chains are increasingly prevalent due to their increased mobility and efficiency. Yet, most motion generation methods rely on serial-chain…
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…
End-to-End and Highly-Efficient Differentiable Simulation for Robotics
Quentin Le Lidec, Louis Montaut, Yann de Mont-Marin +2
Over the past few years, robotics simulators have largely improved in efficiency and scalability, enabling them to generate years of simulated data in a few hours. Yet, efficiently…