research-article

Non-smooth Newton Methods for Deformable Multi-body Dynamics

Authors:

Matthias Müller,

Nuttapong Chentanez,

Stefan Jeschke,

Viktor MakoviychukAuthors Info & Claims

ACM Transactions on Graphics (TOG), Volume 38, Issue 5

Article No.: 140, Pages 1 - 20

https://doi.org/10.1145/3338695

Published: 21 October 2019 Publication History

Abstract

We present a framework for the simulation of rigid and deformable bodies in the presence of contact and friction. Our method is based on a non-smooth Newton iteration that solves the underlying nonlinear complementarity problems (NCPs) directly. This approach allows us to support nonlinear dynamics models, including hyperelastic deformable bodies and articulated rigid mechanisms, coupled through a smooth isotropic friction model. The fixed-point nature of our method means it requires only the solution of a symmetric linear system as a building block. We propose a new complementarity preconditioner for NCP functions that improves convergence, and we develop an efficient GPU-based solver based on the conjugate residual (CR) method that is suitable for interactive simulations. We show how to improve robustness using a new geometric stiffness approximation and evaluate our method’s performance on a number of robotics simulation scenarios, including dexterous manipulation and training using reinforcement learning.

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Index Terms

Non-smooth Newton Methods for Deformable Multi-body Dynamics
1. Computer systems organization
  1. Embedded and cyber-physical systems
    1. Robotics
2. Computing methodologies
  1. Modeling and simulation
    1. Simulation types and techniques
      1. Interactive simulation
      2. Simulation by animation

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cover image ACM Transactions on Graphics

ACM Transactions on Graphics Volume 38, Issue 5

October 2019

191 pages

ISSN:0730-0301

EISSN:1557-7368

DOI:10.1145/3341165

Editor:
Marc Alexa
TU Berlin, Germany

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Publication History

Published: 21 October 2019

Accepted: 01 May 2019

Revised: 01 May 2019

Received: 01 August 2018

Published in TOG Volume 38, Issue 5

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