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1. ContactNets: Learning of Discontinuous Contact Dynamics with Smooth, Implicit Representations

   Pfrommer, Samuel; Halm, Mathew; Posa, Michael (January 2020, Conference on Robot Learning)

   null (Ed.)

   Common methods for learning robot dynamics assume motion is continuous, causing unrealistic model predictions for systems undergoing discontinuous impact and stiction behavior. In this work, we resolve this conflict with a smooth, implicit encoding of the structure inherent to contact-induced discontinuities. Our method, ContactNets, learns parameterizations of inter-body signed distance and contact-frame Jacobians, a representation that is compatible with many simulation, control, and planning environments for robotics. We furthermore circumvent the need to differentiate through stiff or non-smooth dynamics with a novel loss function inspired by the principles of complementarity and maximum dissipation. Our method can predict realistic impact, non-penetration, and stiction when trained on 60 seconds of real world data. 

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2. Characterizing friction for fiber reinforced composites manufacturing: Method development and effect of process parameters

   https://doi.org/10.1016/j.compositesb.2022.109777  

   Das, Arit; Choong, Gabriel YH; Dillard, David A; De_Focatiis, Davide SA; Bortner, Michael J (May 2022, Composites Part B: Engineering)

   In automated layup manufacturing processes of fiber-reinforced polymer composites, the quality of the manufactured part is strongly dependent on frictional behavior. Improper control of frictional forces can lead to defect formation. Frictional sliding rheometry tests provide an innovative methodology to accurately characterize the tool-ply friction of unidirectional (UD) prepreg employing unique annular plate geometries. The effect of processing parameters (temperature, velocity, and normal force) on the frictional response of a carbon fiber prepreg was studied. Moreover, utilizing custom designed plate geometries coupled with optically transparent fixtures allowed for in-situ quantification of the prepreg-rigid surface contact area along with simultaneous characterization of the process parameter-dependent frictional mechanisms. Our findings highlight the reduction in frictional forces with increasing temperature, attributed to the increased resin flowability, while increases in sliding rates resulted in a pronounced increase in the frictional forces. The effect of applied load on the frictional characteristics was more complicated due to contributions from both the adhesive and normal forces. Finally, the results were interpreted in light of the contact area measurements performed at different temperatures, normal force, and sliding rate. 

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3. Sliding friction of a pillar array interface: part I

   https://doi.org/10.1039/d3sm01323e  

   Kaur, Jasreen; Xiao, Xuemei; Khripin, Constantine; Hui, Chung-Yuen; Jagota, Anand (February 2024, Soft Matter)

   Biology is replete with examples, at length scales ranging from the molecular (ligand–receptor binding) to the mesoscopic scale (wing arresting structures on dragonflies) where shape-complementary surfaces are used to control interfacial mechanical properties such as adhesion, friction, and contact compliance. Related bio-inspired and biomimetic structures have been used to achieve unique interfacial properties such as friction and adhesion enhancement, directional and switchable properties. The ability to tune friction by altering surface structures offers advantages in various fields, such as soft robotics and tire manufacturing. Here, we present a study of friction between polydimethylsiloxane (PDMS) samples with surfaces patterned with pillar-arrays. When brought in contact with each other the two samples spontaneously produce a Moire´ pattern that can also be represented as an array of interfacial dislocations that depends on interfacial misorientation and lattice spacing. Misorientation alone produces an array of screw dislocations, while lattice mismatch alone produces an array of edge dislocations. Relative sliding motion is accompanied by interfacial glide of these patterns. The frictional force resisting dislocation glide arises from periodic single pillar–pillar contact and sliding. We study the behavior of pillar–pillar contact with larger (millimeter scale) pillar samples. Inter-pillar interaction measurements are combined with a geometric model for relative sliding to calculate frictional stress that is in good agreement with experiments. 

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4. A Quasi-static Model and Simulation Approach for Pushing, Grasping, and Jamming

   https://doi.org/10.1007/978-3-030-44051-0_29  

   Halm, Mathew; Posa, Michael (January 2018, Algorithmic Foundations of Robotics XIII. WAFR 2018.)

   Morales, Marco; Tapia, Lydia; Sanchez-Ante, Gildardo; Hutchinson, Seth (Ed.)

   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-prehensile manipulation. In this work, we present a novel quasi-static model of planar manipulation that directly maps commanded manipulator velocities to object motion. While quasi-static models have traditionally been unable to capture grasping and jamming behaviors, our approach solves this issue by explicitly modeling the limiting behavior of a velocity-controlled manipulator. We retain the precise modeling of surface contact pressure distributions and efficient computation of contact-rich behaviors of previous methods and additionally prove existence of solutions for any desired manipulator motion. We derive continuous and time-stepping formulations, both posed as tractable Linear Complementarity Problems (LCPs). 

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5. A general two-stage initialization for sag-free deformable simulations

   https://doi.org/10.1145/3528223.3530165  

   Hsu, Jerry; Truong, Nghia; Yuksel, Cem; Wu, Kui (July 2022, ACM Transactions on Graphics)

   Initializing simulations of deformable objects involves setting the rest state of all internal forces at the rest shape of the object. However, often times the rest shape is not explicitly provided. In its absence, it is common to initialize by treating the given initial shape as the rest shape. This leads to sagging, the undesirable deformation under gravity as soon as the simulation begins. Prior solutions to sagging are limited to specific simulation systems and material models, most of them cannot handle frictional contact, and they require solving expensive global nonlinear optimization problems. We introduce a novel solution to the sagging problem that can be applied to a variety of simulation systems and materials. The key feature of our approach is that we avoid solving a global nonlinear optimization problem by performing the initialization in two stages. First, we use a global linear optimization for static equilibrium. Any nonlinearity of the material definition is handled in the local stage, which solves many small local problems efficiently and in parallel. Notably, our method can properly handle frictional contact orders of magnitude faster than prior work. We show that our approach can be applied to various simulation systems by presenting examples with mass-spring systems, cloth simulations, the finite element method, the material point method, and position-based dynamics. 

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